Oscillation Analysis in Behavior-Based Robot Architectures
نویسندگان
چکیده
This paper presents a method for detecting oscillations in behavior-based robot control networks. Two aspects are considered. On the one hand the detection of oscillations inside single behavior modules is based on analyzing the signal in the frequency domain using the Fast Fourier Transformation (fft). On the other hand tracing oscillations through the behavior network helps to evaluate its propagation and to find its root cause. Results of the oscillation analysis are presented using appropriate visualization techniques. The suitability of the proposed approach is shown by an indoor application.
منابع مشابه
Minimizing Amplitude of Oscillation of a Suspended Object during Transport by a Robot
– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...
متن کاملMinimizing Amplitude of Oscillation of a Suspended Object during Transport by a Robot
– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...
متن کاملMobile robot wall-following control using a behavior-based fuzzy controller in unknown environments
This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...
متن کاملSoccer Goalkeeper Task Modeling and Analysis by Petri Nets
In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...
متن کاملبهبود یادگیری رفتار روبات سیار دارای خطا در سنسورهای آن با استفاده از شبکه بیزین
In this paper a new structure based on Bayesian networks is presented to improve mobile robot behavior, in which there exist faulty robot sensors. If a robot likes to follow certain behavior in the environment to reach its goal, it must be capable of making inference and mapping based on prior knowledge and also should be capable of understanding its reactions on the environment over time. Old ...
متن کامل