Analysis and description of sensor based behavior program of autonomous robot using action mode representation and ROBOL/0 language

摘要

The behavior of an autonomous mobile robot must be executed based on the sensor information. The sensor-based behavior cannot be represented by a simple sequence of motions. Action mode representation and ROBOL/0 language are a powerful method to represent such sensor-based behavior. Autonomous navigation with the obstacle avoidance function is designed and represented using action modes. To show the effectiveness of the method, it is programmed in ROBOL/0 and executed on a real robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>