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Journal of Inforamtion Science and Engineering, Vol.15 No.5, pp.737-761 (September 1999)
Polymorphic Autonomous Architecture
For Mobile Robot Navigation

Kao-Shing Hwang, Ming-Yi Ju and Sheng-Ping Hsu
Department of Electrical Engineering
National Chung Cheng University
Chiayi, Taiwan 621, R.O.C.

This paper presents work of an integrated mobile robot system, called the NABOT-I (NAvigating roBOT-I). One of the objectives of this work is to develop a low-cost platform to conduct research in robotics, such as on perception, path finding, remote control, vehicle motion control, and so on. To realize this integrated mobile robot system, the project consists of a host computer, a mobile robot, and a remote link between the two subsystems. The mobile robot, equipped with a perception system and navigation system, can travel in a new environment by means of an autonomous navigation agent or a tele-operating supervisory system. In addition, it can travel under the control of the human supervisory system. For autonomous navigation, the robot mainly uses a sonar ranging system, infrared ranging system, and electronic compass to receive data from its environment. Then, the robot is guided by the autonomous agent (Auto-agent) based on the information from these two sub-systems as it travels around the environment.

Keywords: mobile robot, collision avoidance, behavior-based control system, sensor fusion, polymorphism

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Received November 5, 1997; revised April 19, 1998 & July 22, 1998; accepted September 10, 1998.
Communicated by Jhing-Fa Wang.