Behavior-based Intelligent Robot In Dynamic Indoor Environments

We present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we propose a new behavior-based architecture with three groups of clustered (reflexive, purposive, and adaptive) agents that realizes both efficiency in attaining the mission of the robot and robustness against the various kinds or failures that may occur in a dynamic environment. Basic behaviors required for navigation, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in the behavior-based system architecture. We demonstrate the capabilities of our system in unstructured real office environments, using an indoor mobile robot developed by Toshiba.