Behavior Based Approaches - Embedded Intelligent Robotics - Lecture Slides, Slides of Robotics

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Behavior-

Based

Approaches

Finishing up robotic architecture

Reactive control Motor Schemas Subsumption

Overview

Reasoning

representing space motion planning

Overview

Handling uncertainty sensor fusion building maps localization

Overview

• Sonar Sound Navigation and Ranging
  • Sonar provides useful information about objects very

close to the robot and is often used for fast

emergency collision avoidance.

• Camera data
  • machine vision
  • structured light sensors
  • cross beam sensors
  • parallel-beam sensors

ARCHITECTURES

• How the job of generating actions from

percepts is organized

• Concerned to Autonomous mobile robot in

dynamic environments

• The design of robot architectures is essentially

the same agent design problem that was discussed

Situated automata

• Since the mid 1980s , a significant minority of AI

and robotics researchers have begun to question the “classical” view of intelligent agent design based on representation and manipulation of explicit knowledge

• In robotics, the principal drawback of the classical

view is that explicit reasoning about the effects of low-level actions is too expensive to generate real time behavior

Situated automata

• Finite state machine whose inputs are

provided by sensors connected to the environment and whose outputs are connected to effectors

• Situated automata provide a very efficient

implementation of reflex agents with state

CONFIGURATION SPACES: A FRAMEWORK FOR ANALYSIS

• Both the configuration of the robot’s body and the

locations of the objects in physical space are defined by

real-valued coordinates.

• It is therefore impossible to apply standard search algorithms in any straightforward way because the number of states and actions are infinite.
• The configuration space is mathematical tool for design

and analyzing motion planning algorithms.

how much / how do we represent the world internally?

2 Just the current world. Purely Reactive Control

• Decision-making based only on the current sensor readings.
• For the survivor robot assignment (A, part 1): int computeRotationalVelocity(…)

Robot Architectures

One view of reactive control

Control is a function of the sensed data.

Case 1: If sonars 12, 13, or 14

• Look at the front nine sonar values -- which are closest?

Turn left at 20 deg./sec Case 2: If sonars 15, 0, or 1 Turn left at 40 deg./sec Case 3: If sonars 2, 3, or 4 Turn right at 20 deg./sec 1 0 2 3 4

(^15 ) 13 12

Robot Architecture

how much / how do we represent the world internally?

(^3) Just what we need. Subsumption paradigm

Motor Schema

• Motor schemas compose simple reactions by adding the outputs that each would send to the robot.
• Individual schemas may contain state

Ron Arkin @ Georgia TechDocsity.com

Behavior Summer

vector sum of the avoid and goal motor schemas

path taken by a robot controlled by the resulting field