Emergent behavior based sensor fusion for robot navigation system

摘要

Presents Emergent Behavior-Based Architecture (EBBA), an architecture for heterogeneous sensor information fusion at the level of behavior modules. And we have designed and implemented the mobile robot navigation system based on EBBA. By experiment, we have confirmed that the system based on EBBA satisfies the required functions for human coexistent robots. We are currently developing a dual arm robot system and a stereo vision system using EBBA. We are planning to integrate them as one service robot in near future.