 |
    |
A Rule-Driven Autonomous Robotic System Operating in a Time-Varying Environment
Jia Jianqiang, Chen Weidong, and Xi Yugeng
Institute of Automation, Shanghai Jiaotong University, 200030 Shanghai, P.R. Chinaygxi@sjtu.edu.cn
wdchen@sjtu.edu.cn
mr_jia@sina.com
Abstract. In this paper, the problem concerning how to coordinate concurrent behaviors, when controlling autonomous mobile robots (AMRs), is investigated. We adopt a FSM (finite state machine)-based behavior selection method to solve this problem. It is shown how a hybrid system for an AMR can be modeled as an automaton, where each node corresponds to a distinct robot state. Through transitions between states, robot can coordinate multiple behaviors easily and rapidly under dynamic environment. As an illustration, a soccer task was finished by an AMR system with this method. The robot performed well in the soccer games and won the game in the end.
LNAI 3020, p. 487 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004