Optimal Switching Surfaces in Behavior-Based Robotics
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Abstract
In this paper an optimal solution is presented for
the problem of avoiding obstacles while progressing towards a
goal for a single robot. In particular, the solution is obtained
by allowing the robot to switch between a fixed number of behaviors
and optimizing over what behaviors to use and when to
switch between them. It is moreover shown that the structure
of the switching law only depends on the distance between
the obstacle and the goal. Hence, once initial simulations are
done, a guard can be generated with a fixed structure, and,
given that the robot knows the distance between the obstacle
and the goal, it knows when to switch in order to execute
the pre-computed (optimal) solution. Therefore the solution
lends itself nicely to real-time implementations. Experiments
moreover verify that the proposed methods transitions well onto a real robotic platform.
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Date
2006-12
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