NDLI: A Hybrid Robot Navigation Approach Based on Partial Planning and Emotion-Based Behavior Coordination

Content Provider	IEEE Xplore Digital Library
Author	Huidi Zhang Shirong Liu Yang, S.X.
Copyright Year	2006
Description	Author affiliation: Sch. of Autom., Hangzhou Dianzi Univ. (Huidi Zhang; Shirong Liu)
Abstract	A hybrid navigation approach for mobile robots is presented in this paper, which integrates partial motion planning with emotion-based behavior coordination. According to the local sensing information and assigned goal, the partial motion planning determines a local target point for the mobile robot, and the trajectory composed of the local targets is near optimal in the sense of a given cost function. Behavior coordination based on emotional mechanism is proposed in the navigation control of mobile robots. The emotion system can properly reflect environment states, and then effectively synthesize rational and complex behaviors. The proposed hybrid approach is competent for the mobile robot to navigate autonomously and effectively in unknown environments. Simulation results demonstrate that the robot motion trajectory using the proposed hybrid navigation approach is more reasonable than the one using a pure behavior-based control or emotion-based behavior coordination alone
Starting Page	1183
Ending Page	1188
File Size	7012149
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281851
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Navigation Mobile robots Motion planning Robot sensing systems Trajectory Cost function Robot control Control system synthesis Robot motion autonomous navigation emotion-based behavior behavior coordination
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in