ELECTRICA

REALIZATION OF REACTIVE CONTROL FOR MULTI PURPOSE MOBILE AGENTS

1.

Mechatronics Laboratory, Engineering and Natural Sciences Department, Sabanci University, Orhanlı Mevkii Tuzla 34956 İstanbul, TURKEY

ELECTRICA 2004; 4: 1161-1170
Read: 673 Downloads: 483 Published: 27 December 2019

Mobile robots are built for different purposes, have different physical size, shape, mechanics and electronics. They are required to work in real-time, realize more than one goal simultaneously, hence to communicate and cooperate with other agents. The approach proposed in this paper for mobile robot control is reactive and has layered structure that supports multi sensor perception. Potential field method is implemented for both obstacle avoidance and goal tracking. However imaginary forces of the obstacles and of the goal point are separately treated, and then resulting behaviors are fused with the help of the geometry. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method.
.

Files
EISSN 2619-9831