Behavior based approach for robot navigation and chemical anomaly tracking

Abstract

We present a system for detecting chemical anomaly and to track the anomaly to its source. The chemical sensors are mounted on mobile robots. We describe navigating through medium and close proximity environments through a behavior-based approach, which can be represented through subsumption architecture approach. In this paradigm different robot behaviors compete for the actuators that make the robot act in the world. Further, these behaviors are driven by sensory data received through sensors and analyzed. In our case we support three competing behaviors that will be arbitrated: 1) navigation of indoor spaces through visual landmark recognition, 2) confined spaces navigation through close proximity sensors, and 3) airborne chemical and / or ground trail following. © 2011 Springer-Verlag.