Situational reaction and planning

John Yen, Nathan Pfluger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One problem faced in designing an autonomous mobile robot system is that there are many parameters of the system to define and optimize. While these parameters can be obtained for any given situation, determining what the parameters should be in all situations is difficult. The usual solution is to give the system general parameters that work in all situations, but this does not help the robot to perform its best in a dynamic environment. Our approach is to develop a higher level situation analysis module that adjusts the parameters by analyzing the goals and history of sensor readings. By allowing the robot to change the system parameters based on its judgement of the situation, the robot will be able to better adapt to a wider set of possible situations. We use fuzzy logic in our implementation to reduce the number of basic situations the controller has to recognize. For example, a situation may be 60 percent open and 40 percent corridor, causing the optimal parameters to be somewhere between the optimal settings for the two extreme situations.

Original languageEnglish (US)
Title of host publicationConference on Intelligent Robots in Factory, Field, Space, and Service, 1994
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Pages240-245
Number of pages6
StatePublished - 1994
EventConference on Intelligent Robots in Factory, Field, Space, and Service, 1994 - Houston, United States
Duration: Mar 21 1994Mar 24 1994

Other

OtherConference on Intelligent Robots in Factory, Field, Space, and Service, 1994
CountryUnited States
CityHouston
Period3/21/943/24/94

Fingerprint

Robots
Planning
Mobile robots
Fuzzy logic
Controllers
Sensors

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Yen, J., & Pfluger, N. (1994). Situational reaction and planning. In Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994 (pp. 240-245). [AIM-94-1206-CP] American Institute of Aeronautics and Astronautics Inc, AIAA.
Yen, John ; Pfluger, Nathan. / Situational reaction and planning. Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA, 1994. pp. 240-245
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Yen, J & Pfluger, N 1994, Situational reaction and planning. in Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994., AIM-94-1206-CP, American Institute of Aeronautics and Astronautics Inc, AIAA, pp. 240-245, Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994, Houston, United States, 3/21/94.

Situational reaction and planning. / Yen, John; Pfluger, Nathan.

Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA, 1994. p. 240-245 AIM-94-1206-CP.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yen J, Pfluger N. Situational reaction and planning. In Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994. American Institute of Aeronautics and Astronautics Inc, AIAA. 1994. p. 240-245. AIM-94-1206-CP