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Adaptive Behavior
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What's this?

Behavior-Based Robot Navigation for Extended Domains

Ronald C. Arkin

Georgia Institute of Technology

Behavior-based robotic systems have been successfully deployed for a wide range of planar ground-based tasks. This article describes how reactive (behavior-based) systems can be applied to new and more difficult target domains. ln particular, schema-based navigation is shown to be both feasible and useful in two new areas: three-dimensional navigation for use in aerospace and undersea applications, and "two and one-half"-dimensional surroundings for outdoor navigation in rough terrain. Extensive simulation studies demonstrate the utility of this approach in both cases.

Key Words: reactive control • behavior-based robotics • robot navigation; schema theory

Adaptive Behavior, Vol. 1, No. 2, 201-225 (1992)
DOI: 10.1177/105971239200100204
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