Some
approaches concerning autonomous mobile robot control
Professor Sergiu Cononovici
Departament of Robotics,
Romanian Academy, Institute of Solid Mechanics
Bucharest, ROMANIA
E-mail: mecrob@imsar.bu.edu.ro
Abstract: Vehicles, which operate more or less autonomously, are
included in the large family of robots. The autonomy is tightly related with
the use of sensors for environment perception. The mobile robots are actors
on which there can be implemented strategies that belong to applied
artificial intelligence.
A little wheeled robot equipped with infrared sensors is our actor. On it
there are applied some strategies to obtain the reactive behaviour for
unforeseeable obstacles avoidance. The reactive function is a mapping on the
perceptual states set with values in the action set. A rule base perception
action is obtained. The building of this is tackled using a genetic
algorithm as well as by reinforcement learning.
To the mobile robot equipped with this ability the navigation skill is
attached so that it is able to navigate from a start point to a goal one by
dead reckoning by odometry. A control system based on two microcontrollers
running in parallel and changing messages between each other is the hardware
on which the control strategies are applied. Some results obtained by
simulation of the developed strategies are presented.
Brief Biography of the Speaker:
Senior researcher Sergiu-Boris Cononovici graduated as an
engineer from the Polytechnic Institute Bucharest, the Faculty of
Electronics and Telecomunications. He received his PhD degree in the Theory
of Mechanisms and Machines from the Institute of Physics and Materials
Technology in Bucharest in 1979.
He joined the Institute of Solid Mechanics of the Romanian Academy in 1967.
From 1979 he has been involved in research on robotics and between 1979 and
2000 he was, as robotics project coordinator, at the head of the Robotics
Group.
In 1985 the Central Institute of Physics Bucharest awarded his research team
a prise for the first Romanian industrial painting robot. His research
interests include robot control systems, sensor based control, applied
artificial intelligence, fuzzy control, genetic algorithms, autonomous
mobile robots. Starting with 1996 he has been president of the Bucharest
branch of the Romanian Society for Robotics (ROMSIR).
