Realization of reactive control for multi purpose mobile agents

Yannier, Selim and Şabanoviç, Asif and Onat, Ahmet (2004) Realization of reactive control for multi purpose mobile agents. Journal of Electronical and Electronics Engineering, 4 (2). pp. 1161-1170.

[thumbnail of 3011800001165.pdf] PDF

Download (337kB)


Mobile robots are built for different purposes, have different physical size, shape, mechanics and electronics. They are required to work in real-time, realize more than one goal simultaneously, hence to communicate and cooperate with other agents. The approach proposed in this paper for mobile robot control is reactive and has layered structure that supports multi sensor perception. Potential field method is implemented for both obstacle avoidance and goal tracking. However imaginary forces of the obstacles and of the goal point are separately treated, and then resulting behaviors are fused with the help of the geometry. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method.
Item Type: Article
Uncontrolled Keywords: Autonomous Mobile Robot, Behavior Arbitration, Behavior Based (Reactive) Control, Multiagent System, Potential Field Method
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Ahmet Onat
Date Deposited: 21 Feb 2007 02:00
Last Modified: 26 Apr 2022 08:09

Actions (login required)

View Item
View Item