Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments

Thorsten Ropertz, Patrick Wolf, Karsten Berns

Abstract

Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based Control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.

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Paper Citation


in Harvard Style

Ropertz T., Wolf P. and Berns K. (2017). Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 513-524. DOI: 10.5220/0006481405130524


in Bibtex Style

@conference{icinco17,
author={Thorsten Ropertz and Patrick Wolf and Karsten Berns},
title={Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={513-524},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006481405130524},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments
SN - 978-989-758-263-9
AU - Ropertz T.
AU - Wolf P.
AU - Berns K.
PY - 2017
SP - 513
EP - 524
DO - 10.5220/0006481405130524