TEMPORAL COORDINATION OF PERCEPTUAL ALGORITHMS FOR MOBILE ROBOT NAVIGATION

A methodology for integrating multiple perceptual algorithms within a reactive robotic control system is presented. A model using finite state acceptors is developed as a means for expressing perceptual processing over space and time in the context of a particular motor behavior. This model can be utilized for a wide range of perceptual sequencing problems. The feasibility of this method is demonstrated in two separate implementations. The first is in the context of mobile robot docking where our mobile robot uses four different vision and ultrasonic algorithms to position itself relative to a docking workstation over a long-range course. The second uses vision, IR beacon, and ultrasonic algorithms to park the robot next to a desired plastic pole randomly placed within an arena.