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Erschienen in:
2005 | OriginalPaper | Buchkapitel
Survival Kit: A Constraint-Based Behavioural Architecture for Robot Navigation
verfasst von : Pedro Santana, Luís Correia
Erschienen in: Progress in Artificial Intelligence
Verlag: Springer Berlin Heidelberg
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This article presents a constraint-based behavioural architecture for low-level safe navigation, the Survival Kit. Instead of approaching the problem by customising a generic Behaviour-Based architecture, the Survival Kit embodies a dedicated semantics for safe navigation, which augments its expressiveness for the task. An instantiation of the architecture for goal-oriented obstacle avoidance in unstructured indoor environments is proposed. Special attention is given to an environmental feature, the gap, which allows to optimise paths based on immediate ranging data. Experimental results in simulation confirm the capabilities of the approach.