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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2005, Vol. 6 Issue ( 6): 18-    DOI: 10.1631/jzus.2005.A0583
    
Self-organized architecture for outdoor mobile robot navigation
ZHANG Huan-cheng, ZHU Miao-liang
School of Computer Science, Zhejiang University, Hangzhou 310027, China
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Abstract  This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navigation experiments on the robot in a variety of natural outdoor environments.

Key words： Computer Science Mobile robot      Architecture      Multi-agent     
Received: 01 October 2004     
CLC:  TP242  
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ZHANG Huan-cheng
ZHU Miao-liang
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ZHANG Huan-cheng, ZHU Miao-liang. Self-organized architecture for outdoor mobile robot navigation. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2005, 6( 6): 18-.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2005.A0583     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2005/V6/I 6/18

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