R. Chatterjee et F. Matsuno, Use of single side reflex for autonomous navigation of mobile robots in unknown environments, ROBOT AUT S, 35(2), 2001, pp. 77-96
In an effort to mimic the process of obstacle avoidance behavior of human l
ocomotion (or that of automobiles driven by human response), a combination
of basic reflex actions and higher level logical decisions is implemented.
It is shown that for reflective navigation of autonomous mobile robots, the
ability to reflectively avoid obstacles on one side (left or right) only i
s sufficient for avoidance of obstacle on both sides. When combined with a
free-target-approach behavior, the robot can be made capable of navigating
through environments with unknown obstacles towards a desired target. Use o
f this behavior segmentation provides a basis for a compact representation
of the reflex behavior as well as allows a concept of virtual-target-side t
o solve the limit cycle problems, which is common in reflective navigation.
In the present work, fuzzy logic based implementation of the single-sided
reflex is considered. The use of perceptional symmetry allows perception-ac
tion mapping with reduced sensor space dimensions. Simulation and experimen
tal results are presented to show the effectiveness of the proposed strateg
y in typical obstacle situations. (C) 2001 Elsevier Science B.V. All rights
reserved.