• Journal of the Institute of Convergence Signal Processing
• /
• v.10 no.1
• /
• pp.80-85
• /
• 2009

The performance of the robot is very limited in the conventional model-based control methods when the environments around a robot are not structured or are varying dynamically. The reason for that is the methods are based on the model of the environments which is very difficult to match with the real environments and on a path planning which is complex and time-consuming. On the other hand, the behavior-based control methods are not dependant on the model of the environments nor a complex planning. In those methods, a specific behavior is coupled with a specific sensor output, so the response of a robot is quite reactive and timely in dynamic and unstructured environments. In this thesis, we propose a situation dependant behavior based control architecture, in which a robot may behave differently to the same sensor output depending on various situations. We also show some experimental results to show the feasibility of the proposed control architecture.