Reactive inclinometer-based mobile robot navigation

Abstract

The authors have developed reactive motor behaviors (schemas) which exploit inclinometer data. Using this information, they have implemented artificial intelligence hill-climbing techniques as well as valley finding and isocontour following. All of these schemas are integrated with the other schemas present in the system AuRA (autonomous robot architecture) and can be used concurrently with obstacle avoidance, goal seeking, and other motor behaviors. Simulation studies illustrate the utility of these methods using actual terrain data.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>