The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the prop...The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.展开更多
This research aims to evaluate walkability as a strategy of urban mobility in relation to physical characteristics of accessibility and attractiveness from public sidewalks characteristics in the city of Passo Fundo/R...This research aims to evaluate walkability as a strategy of urban mobility in relation to physical characteristics of accessibility and attractiveness from public sidewalks characteristics in the city of Passo Fundo/RS-Brazil using the IAAPE （indicators of attraction and pedestrian accessibility） method. The concept of walkability corresponds to the simple act of walking in a pleasant way along the footpaths. Therefore, the IAAPE method was used, which considers aspects of connectivity, comfort, conviviality, coexistence, convenience, clarity and commitment in relation to the space evaluated. In this study, 40 adults, elderly, pregnant and wheelchair subjects were interviewed for evaluating the importance criteria on public sidewalks for a given type of user. In general, reduced sidewalk dimensions and obstacle presence are the main displacement hurdles in most of the cases analyzed. Thus, improvements are needed to avoid stress situations that arise from daily routine, to encourage physical activities, accessibility, and the emergence of meeting and leisure points.展开更多
For a domestic personal robot, personalized services are as important as predesigned tasks, because the robot needs to adjust the home state based on the operator's habits. An operator's habits are composed of...For a domestic personal robot, personalized services are as important as predesigned tasks, because the robot needs to adjust the home state based on the operator's habits. An operator's habits are composed of cues, behaviors, and rewards. This article introduces behavioral footprints to describe the operator's behaviors in a house, and applies the inverse reinforcement learning technique to extract the operator's habits, represented by a reward function. We implemented the proposed approach with a mobile robot on indoor temperature adjustment, and compared this approach with a baseline method that recorded all the cues and behaviors of the operator. The result shows that the proposed approach allows the robot to reveal the operator's habits accurately and adjust the environment state accordingly.展开更多
The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm wit...The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram （SVFH） algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room.展开更多
This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Ana...This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Analysis of reactive navigation methods shows that there is no reliable reactive collision-free method. However, method VFH＋ is suboptimal reactive navigation method for static environment. Original method was proposed for ultrasonic rangefinders. Nowadays, much more sophisticated sensors are available. That is why our modification is proposed for a laser rangefinder attached to indoor mobile robot. Results are presented as simulation in Matlab and also as experiments with real robot. Based on these experiments, it can be claimed that VFH＋ is very effective reactive navigation method for various sensors and environments and it can be modified for different requirements on robot behavior.展开更多
基金Project(61173032)supported by the National Natural Science Foundation of ChinaProject(20090406)supported by the Tianjin Scientific and Technological Development Fund of Higher Education of China
文摘The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.
文摘This research aims to evaluate walkability as a strategy of urban mobility in relation to physical characteristics of accessibility and attractiveness from public sidewalks characteristics in the city of Passo Fundo/RS-Brazil using the IAAPE （indicators of attraction and pedestrian accessibility） method. The concept of walkability corresponds to the simple act of walking in a pleasant way along the footpaths. Therefore, the IAAPE method was used, which considers aspects of connectivity, comfort, conviviality, coexistence, convenience, clarity and commitment in relation to the space evaluated. In this study, 40 adults, elderly, pregnant and wheelchair subjects were interviewed for evaluating the importance criteria on public sidewalks for a given type of user. In general, reduced sidewalk dimensions and obstacle presence are the main displacement hurdles in most of the cases analyzed. Thus, improvements are needed to avoid stress situations that arise from daily routine, to encourage physical activities, accessibility, and the emergence of meeting and leisure points.
基金supported in part by Hong Kong RGC GRC (CUHK14205914 and CUHK415512)
文摘For a domestic personal robot, personalized services are as important as predesigned tasks, because the robot needs to adjust the home state based on the operator's habits. An operator's habits are composed of cues, behaviors, and rewards. This article introduces behavioral footprints to describe the operator's behaviors in a house, and applies the inverse reinforcement learning technique to extract the operator's habits, represented by a reward function. We implemented the proposed approach with a mobile robot on indoor temperature adjustment, and compared this approach with a baseline method that recorded all the cues and behaviors of the operator. The result shows that the proposed approach allows the robot to reveal the operator's habits accurately and adjust the environment state accordingly.
基金National Natural Science Foundation of China(No.60975059)Leading Academic Discipline Project of Shanghai Municipal Education Commission,China(No.J513032)Innovation Program of Shanghai Municipal Education Commission,China(No.09YZ343)
文摘The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram （SVFH） algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room.
文摘This paper describes a reactive navigation proposed for a differentially driven robot. The aim of the reactive navigation is to prescribe behavior to the robot based on actual sensor values that is collision-free. Analysis of reactive navigation methods shows that there is no reliable reactive collision-free method. However, method VFH＋ is suboptimal reactive navigation method for static environment. Original method was proposed for ultrasonic rangefinders. Nowadays, much more sophisticated sensors are available. That is why our modification is proposed for a laser rangefinder attached to indoor mobile robot. Results are presented as simulation in Matlab and also as experiments with real robot. Based on these experiments, it can be claimed that VFH＋ is very effective reactive navigation method for various sensors and environments and it can be modified for different requirements on robot behavior.
