NDLI: Behavior-based control of a non-holonomic robot in pushing tasks

Content Provider	IEEE Xplore Digital Library
Author	Emery, R. Balch, T.
Copyright Year	2001
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Emery, R.)
Abstract	We describe a behavior-based control system that enables a non-holonomic robot to push an object from an arbitrary starting position to a goal location through an obstacle field. The approach avoids the need for maintaining an internal model of the target and obstacles and the potentially high computational overhead associated with traditional path planning approaches for non-holonomic robots. The motor schema-based control system was prototyped in simulation, then evaluated empirically on mobile robots. The approach was demonstrated in two pushing tasks: box pushing and ball dribbling. Using the same generalized control system, a robot is able to successfully push a box through a static obstacle field and dribble a ball into a goal during RoboCup soccer matches. In both cases the robot is able to react quickly and recover from situations where it loses control of its target with due to its own motion or interference with others. Quantitative experimental results for reliability in box pushing are included.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2381
Ending Page	2388
File Size	821339
Page Count	8
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932978
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Integrated circuit modeling Path planning Virtual prototyping Computational modeling Mobile robots Interference Soil Robotic assembly Cleaning
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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