A behavior based robot control system architecture for navigation environments with randomly allocated walls

Download

index.pdf

Date

2003

Author

Altuntaş, Berrin

Metadata

Show full item record

Item Usage Stats

262
views

0
downloads

Integration of knowledge to the control system of a robot is the best way to emerge intelligence to robot. The most useful knowledge for a robot control system that aims to visit the landmarks in an environment is the enviromental knowledge. The most natural representation of the robot2s environment is a map. This study presents a behavior based robot control system architecture that is based on subsumption and motor schema architectures and enables the robot to construct the map of the environment by using proximity sensors, odometry sensors, compass and image. The knowledge produced after processing the sensor values, is stored in Short Term Memory (STM) or Long Term Memory (LTM) of the robot, according to the persistence requirements of the knowledge. The knowledge stored in the STM acts as a sensor value, while LTM stores the map of the environment. The map of the environment is not a priori information for the robot, but it constructs the map as it moves in the environment. By the help of the map constructed the robot will be enabled to visit non-visited areas in the environment and to localize itself in its internal world. The controller is designed for a real robot Khepera equipped with the sensors required. The controller was tested on simulator called Webots version 2.0 on Linux operating system.

Subject Keywords

Robots, Simulation

URI

http://etd.lib.metu.edu.tr/upload/1097054/index.pdf
https://hdl.handle.net/11511/13852

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Software development for man-machine interface for an industrial robot Cengiz, Mahir Cihan; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (2003) In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given ...
Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010) In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
A behavior based robot control system using neuro-fuzzy approach Öğüt, Demet; Alpaslan, Ferda Nur; Department of Computer Engineering (2003) In autonomous navigation of mobile robots the dynamic environment is a source of problems. Because it is not possible to model all the possible conditions, the key point in the robot control is to design a system that is adaptable to different conditions and robust in dynamic environments. This study presents a reactive control system for a Khepera robot with the ability to navigate in a dynamic environment for reaching goal objects. The main motivation of this research is to design a robot control, which i...
Demonstration of robotic deburring process motor skills from motion primitives of human skill model Parvizi, Payam; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2018) This study presents a new method to learn motor skills of robotic deburring process from a human expert who is performing manual deburring operation. By utilizing this method, it is possible to automate the robotic deburring process of a workpiece with an unknown shape. In this work, the task-related movements of the human expert are recorded using 6DOF and 1DOF haptic devices. Then, the intrinsic movement primitives are parametrized by using Dynamic Movement Primitive (DMP) method. By collecting dataset of...
Simulation of biped locomotion of humanoid robots in 3D space Akalın, Gökcan; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2010) The main goal of this thesis is to simulate the response of a humanoid robot using a specified control algorithm which can achieve a sustainable biped locomotion with 4 basic locomotion phases. Basic parts for the body of the humanoid robot model are shaped according to the specified basic physical parameters and assumed kinematic model. The kinematic model, which does not change according to locomotion phases and consists of 27 segments including 14 virtual segments, provides a humanoid robot model with 26...

Citation Formats

B. Altuntaş, “A behavior based robot control system architecture for navigation environments with randomly allocated walls,” M.S. - Master of Science, Middle East Technical University, 2003.