Reactive control of autonomous mobile robots based on behaviors

• Grant number: 05/01326-0
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: November 01, 2005
• End date: October 31, 2006
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Jun Okamoto Junior
• Grantee: Roberto Dallo Ferreira
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

The control of a mobile robot can be concepted by two distincts approaches: hierarchical or reactive. While hierarchic approach depends on the planning to effectuate the control, the reactive does direct sensor correspondence between sensors data and the action to be taken. By the implementation of different behaviors relating sensing of the robots with proper movements, there is a basic control structure to accomplish more complex duties like move in safely in environments with obstacles. These proposal has a goal to projects and implementation of the reactive behaviors to control the Magellan Pro robot, of iRobot, recently acquired by the research group. Code development will be made by object oriented concept and within CORBA specifications, appropriated for applications involving distributed objects in computer with different sources of operational systems, like the case of the Laboratory of Advanced Perception of the EPUSP.