| This is an example of a
practical implementation of Behavior-Based Robotics, called subsumption
architecture. This architecture decomposes complex behaviors into
smaller, simple behaviors that consume very little memory. Each behavior
consists of a set of conditions and a set of actions. A behavior
takes over the control of the robot when its conditions become true. The
robot will then perform the set of preprogrammed actions for that
behavior. To avoid confusion (which behavior should take over?), the
behaviors are prioritized and controlled by an arbitrator. |
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| This video recorded a race between 6
behavior-based robots, which travelled back and forth between two light
beacons avoiding the obstacles in the path. They needed two behaviors to
accomplish the task: seek light and avoid obstacle. When you see a robot
backing up or changing its directions, it is being controlled by the
"avoid mode". The greatest advantage of this programming structure is
that all behaviors are independent, which makes adding other types of
actions to the robot become much easier. Robot was built with the LEGO Mindstorms. Programming language: Java Operating system: Lejos Teams:
Under Prof. Roger Glassey's guidance Similar project: Mars Explorer Prototype |
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|
Home page phantuan {at} berkeley.edu |
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