Propose the controlling strategy of wheeled mobile robot based on the consciousness

Abstract

We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This method enables robot to move in unknown environments as it controls its speed smoothly. It is implemented using a transducer with a scanning system, and has a great ability of obtaining the traversable area for a robot in unknown environments in which the distance cannot be precisely measured. The proposed system, termed the integration-type ultrasonic wave sensor system, has following arbitrary parameters that the system designer can determine: sampling time of sonar, sampling time of scanning, range of scanning, speed of scanning, and so on. It is very difficult to determine them appropriately in response to changing environments or tasks. In this paper, we try to determine the arbitrary parameters of the integration-type ultrasonic wave sensor system on the basis of the 'consciousness'. We have proposed the speed control or obstacle avoidance by using the integration-type ultrasonic wave sensor system, and we define it as the unconsciousness movements. On the other hand, higher-level tasks such as navigation or map building are defined as the consciousness movements. The purpose of our research is to propose a simple construction and controlling method of the robot system by introducing the concept of consciousness. In preparation for this purpose, some experiments and discussion will be performed in this paper.