Behavior Control of an Autonomous Mobile Robot in Dynamically Changing Environment.

Abstract

We report a developed autonomous mobile robot (AMR) in dynamically changing environment. The AMR's behavior controller is based upon a state-transition scheme, which suits for realizing the AMR behavior control according to sensory information. The network of state-transition, however, becomes very large as behaviors become complicated. We divide the network among multiple tasks in order to suppress increase of complexity in single network. The tasks consists of a supervisor task and functional tasks. A supervisor task watches overall statuses and events, and controls functional tasks. Each functional task controls a specified part of the AMR's behavior. We constructed a real AMR system, on which the behavior control method is applied and it demonstrated in a showroom as a greeter robot.