Abstract
In this paper, the problem concerning how to coordinate concurrent behaviors, when controlling autonomous mobile robots (AMRs), is investigated. We adopt a FSM (finite state machine)-based behavior selection method to solve this problem. It is shown how a hybrid system for an AMR can be modeled as an automaton, where each node corresponds to a distinct robot state. Through transitions between states, robot can coordinate multiple behaviors easily and rapidly under dynamic environment. As an illustration, a soccer task was finished by an AMR system with this method. The robot performed well in the soccer games and won the game in the end.
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© 2004 Springer-Verlag Berlin Heidelberg
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Jianqiang, J., Weidong, C., Yugeng, X. (2004). A Rule-Driven Autonomous Robotic System Operating in a Time-Varying Environment. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds) RoboCup 2003: Robot Soccer World Cup VII. RoboCup 2003. Lecture Notes in Computer Science(), vol 3020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25940-4_43
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DOI: https://doi.org/10.1007/978-3-540-25940-4_43
Publisher Name: Springer, Berlin, Heidelberg
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