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    A Case-Based Approach to Reactive Control for Autonomous Robots

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    er-92-07.pdf (207.9Kb)
    Date
    1992
    Author
    Moorman, Kenneth
    Ram, Ashwin
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    Abstract
    We propose a case-based method of selecting behavior sets as an addition to traditional reactive robotic control systems. The new system (ACBARR - A Case BAsed Reactive Robotic system) provides more flexible performance in novel environments, as well as overcoming a standard "hard" problem for reactive systems, the box canyon. Additionally, ACBARR is designed in a manner which is intended to remain as close to pure reactive control as possible. Higher level reasoning and memory functions are intentionally kept to a minimum. As a result, the new reasoning does not significantly slow the system down from pure reactive speeds.
    URI
    http://hdl.handle.net/1853/22448
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    • Mobile Robot Laboratory [187]
    • Mobile Robot Laboratory Publications [187]

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