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Proceedings Paper

Auto-agent: a behavior-based architecture for mobile navigation
Author(s): Kaoshing Hwang; Ming-Yi Ju
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Paper Abstract

The design and construction of mobile robots is as much art as a science. In hardware architecture, researchers tend to construct a low-cost and reliable platform which equips with various sensory system for sensing the change of the environment to offer useful information to the navigation system. An autonomous navigation system plays a role in an mobile robot as the brain in human being. It generates action command according to those sensory data from the perception system to direct the mobile robot to go to desired positions or accomplish useful tasks without human intervention in real-world. An important problem in autonomous navigation is the need to cope with the large amount of uncertainty that is inherent of natural environment. Therefore the development of techniques for autonomous navigation in real-world environments constitutes one of the major trends in the current research on robotics. Inspired with the concept of software agents, reactive control and behavior-based control, a modular architecture, called Auto-agent, for mobile navigation is proposed. The main characteristic of Auto-agent is as following: Behavioral agents cooperate by means of communicating with other behavioral agents intermittently to achieve their local goal and the goals of the community as a whole because no one individually has sufficient competence, resources and information to solve the entire problem. Auto-agent gains advantages from the characteristics of distributed system, it offers the possibility to find an acceptable solution with a reasonable time and complexity range. Besides, the modular structure is convenient for an engineer to construct a new behavioral agent and to add it into Auto-agent.

Paper Details

Date Published: 9 October 1998
PDF: 9 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327014
Show Author Affiliations
Kaoshing Hwang, National Chung Cheng Univ. (Taiwan)
Ming-Yi Ju, National Chung Cheng Univ. (Taiwan)


Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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