A Behaviour-based Approach to Reactive Navigation for Autonomous Robot

This paper proposes a new effective behaviour-based reactive navigation methodology for autonomous mobile robot. Its main contribution is based on newly proposed egocentric 'homeostatic ' approach by which behaviours are coordinated while taking advantages of both competitive and cooperative method. In order to accomplish autonomous navigation, direction and velocity are modulated automatically by single real value, ' satisfaction level' without any central or additional module so that this method becomes simple, consistent, and flexible. The validities of the proposed methodology are shown by graphic simulation and experiments with wheeled mobile robot. Copyright 2002 IFAC