Behavior based control of mobile robot via voting technique

Behavior-based control employs a set of distributed, interacting modules, called behaviors that collectively achieve the desired system-level behavior. One typical issue in behavior-based control systems is the formulation of effective mechanisms for coordination of the behaviors’ activities in assu...

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Main Author:	Zainal Abidin, Zeddy
Format:	Thesis
Language:	English
Published:	2014
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/78101/1/ZeddyZainalAbidinMFKE20141.pdf
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id	my-utm-ep.78101
record_format	uketd_dc
spelling	my-utm-ep.781012018-07-23T05:34:51Z Behavior based control of mobile robot via voting technique 2014-06 Zainal Abidin, Zeddy TK Electrical engineering. Electronics Nuclear engineering Behavior-based control employs a set of distributed, interacting modules, called behaviors that collectively achieve the desired system-level behavior. One typical issue in behavior-based control systems is the formulation of effective mechanisms for coordination of the behaviors’ activities in assuring that the mobile robot act in the correct action in accordance to its surroundings environment. This is what is known as action selection Action Selection Problem (ASP). An Action Selection Mechanism (ASM) is basically a mechanism with the main intention of solving the concerns raised in the ASP. There are basically 2 types of ASM mainly Arbitration and Command Fusion. The difference between Arbitration and Command Fusion are Arbitrary ASM allow one or one set of behaviors to take control at any one time.Command Fusion ASMs allow multiple behaviors to contribute to final control of the mobile robot.Voting technique is one of the strategies under the competitive methods used for behavior coordination in mobile robotics. Each behavior developed for a particular mobile robot shall generate a vote for a set of possible robot actions. A typical vote value of zero would normally mean the least desired action and a vote value of one shall mean that the particular action is most desired. These behaviors send votes as a possibility for each action set to achieve the objectives of the behaviors. An arbiter then performs command fusion and selects the most favoured action that is with the highest vote value. This project report will focus on the realization of a behavior based control for a mobile robot using the voting technique. 2014-06 Thesis http://eprints.utm.my/id/eprint/78101/ http://eprints.utm.my/id/eprint/78101/1/ZeddyZainalAbidinMFKE20141.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:83708 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Zainal Abidin, Zeddy Behavior based control of mobile robot via voting technique
description	Behavior-based control employs a set of distributed, interacting modules, called behaviors that collectively achieve the desired system-level behavior. One typical issue in behavior-based control systems is the formulation of effective mechanisms for coordination of the behaviors’ activities in assuring that the mobile robot act in the correct action in accordance to its surroundings environment. This is what is known as action selection Action Selection Problem (ASP). An Action Selection Mechanism (ASM) is basically a mechanism with the main intention of solving the concerns raised in the ASP. There are basically 2 types of ASM mainly Arbitration and Command Fusion. The difference between Arbitration and Command Fusion are Arbitrary ASM allow one or one set of behaviors to take control at any one time.Command Fusion ASMs allow multiple behaviors to contribute to final control of the mobile robot.Voting technique is one of the strategies under the competitive methods used for behavior coordination in mobile robotics. Each behavior developed for a particular mobile robot shall generate a vote for a set of possible robot actions. A typical vote value of zero would normally mean the least desired action and a vote value of one shall mean that the particular action is most desired. These behaviors send votes as a possibility for each action set to achieve the objectives of the behaviors. An arbiter then performs command fusion and selects the most favoured action that is with the highest vote value. This project report will focus on the realization of a behavior based control for a mobile robot using the voting technique.
format	Thesis
qualification_level	Master's degree
author	Zainal Abidin, Zeddy
author_facet	Zainal Abidin, Zeddy
author_sort	Zainal Abidin, Zeddy
title	Behavior based control of mobile robot via voting technique
title_short	Behavior based control of mobile robot via voting technique
title_full	Behavior based control of mobile robot via voting technique
title_fullStr	Behavior based control of mobile robot via voting technique
title_full_unstemmed	Behavior based control of mobile robot via voting technique
title_sort	behavior based control of mobile robot via voting technique
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2014
url	http://eprints.utm.my/id/eprint/78101/1/ZeddyZainalAbidinMFKE20141.pdf
_version_	1747817907236110336

Behavior based control of mobile robot via voting technique

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