著者

浅香 俊一 石川 繁樹

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.12, no.4, pp.77-83, 1994-05-15

被引用文献数

5 14

---

We report a developed autonomous mobile robot (AMR) in dynamically changing environment. The AMR's behavior controller is based upon a state-transition scheme, which suits for realizing the AMR behavior control according to sensory information. The network of state-transition, however, becomes very large as behaviors become complicated. We divide the network among multiple tasks in order to suppress increase of complexity in single network. The tasks consists of a supervisor task and functional tasks. A supervisor task watches overall statuses and events, and controls functional tasks. Each functional task controls a specified part of the AMR's behavior. We constructed a real AMR system, on which the behavior control method is applied and it demonstrated in a showroom as a greeter robot.