A behavior architecture for autonomous mobile robots based on potential fields

Authors:
Tim Laue;Thomas Röfer
Affiliations:
Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen, Bremen, Germany;Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen, Bremen, Germany
Venue:
RoboCup 2004
Year:
2005

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Abstract

This paper describes a behavior-based architecture which integrates existing potential field approaches concerning motion planning as well as the evaluation and selection of actions into a single architecture. This combination allows, together with the concept of competing behaviors, the specification of more complex behaviors than the usual approach which is focusing on behavior superposition and is mostly dependent on additional external mechanisms. The architecture and all methods presented in this paper have been implemented and applied to different robots.