Autonomous Behavior Control Research Articles

Autonomous Behavior Intelligence Control of Self-Evolution Mobile Robot for High-Voltage Transmission Line in Complex Smart Grid

In complex smart grid, the power maintenance robot is important equipment to ensure the reliable operation of high-voltage lines and it is a useful exploration to realize high-quality power transmission. In view of the increasingly prominent contradiction between the robot single operation function and the diversification of power grid maintenance operations, additional with the robot weak autonomous operation and intelligent behavior ability, this paper proposes a new configuration of a reconfigurable power robot with terminal functions and its autonomous operation behavior control method for the three typical tasks which are the high-voltage transmission line insulators, drainage plates, and dampers maintenance. Through the analysis and planning of the robot operation behavior, the robot finite state machine (FSM) model in the three operation states has been established. Through the introduction of the state transfer function in the FSM, the automatic switching control between the robot key operation states can be realized, and the robot motion planning can be optimized. The movement and working flow of the robot improve the robot operation intelligence and operation efficiency. Based on this, the robot autonomous operation control system has been designed and the robot physical prototype has been developed for three maintenance tasks of insulators, drainage plates, and dampers. Finally, simulation experiments and field operation tests verify the effectiveness and engineering practicability of the proposed method. Compared with traditional manual control, the autonomous behavior control method can significantly improve the robot operational efficiency and operational intelligence. At the same time, the robot multitask function and autonomous behavior control under different tasks can be realized and the method has strong versatility for different task objects and different line environments. The research and its promotion have important theoretical significance and practical application value for the power system operation and maintenance integration management.

A Survey on Behavior Control Architectures for Social Robots in Healthcare Interventions

The use of Robot-Assisted Therapy (RAT) in healthcare interventions has increasingly received research attention. However, a lot of RAT studies are conducted under Wizard of Oz (WoZ) techniques in which the robots are teleoperated or pre-programmed. The trend of RAT is moving towards (partially) autonomous control in which the robot behavior control architecture plays a significant role in creating effective human–robot interaction by engaging and motivating human users into the therapeutic processes. This paper describes the state-of-the-art of the autonomous behavior control architectures currently developed for social robots in healthcare interventions, considering both clinical and exploratory studies. We also present certain requirements that an architecture used in RAT study should acquire, which provide roboticists and therapists an inspiration to orient their designs and implementations on the basis of their targeted RAT applications.

Gait Control of Micro Wall-climbing Robot Based on Initiative Exploration

To solve the problem of autonomous behavior control for a micro wall-climbing robot when its suction foot fails to generate enough vacuum pressure to hold itself on an unsmoothed surface, according to the structure design and the gaits of the robot, a gait control method to choose a location to put the suction foot down based on initiative exploration is proposed. Firstly, three motion modes of the micro wall-climbing robot are analyzed, as well as its basic gaits of the linear motion and the turning motion. Then, after defining a state vector for the robot, a finite state machine model and a state transition map of the suction foot are introduced. In addition, the priority order of the state transfer function is defined according to the "handy" principle. With the above-mentioned research, the gait control method of the robot in an unknown environment based on initiative exploration is presented. Finally, the method is verified through simulations in artificial environments and experiments in actual aircraft external surface environment. The results show that the method is feasible and very effective for improving the performance of the robot autonomous control.

Implementation of human-like driving skills by autonomous fuzzy behavior control on an fpga-based car-like mobile robot

In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplish the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.

Distributed behavior arbitration network: Autonomous behavior control architecture for humanoids

AbstractA new concept of decentralized behavior control architecture for humanoids, termed the Distributed Behavior Arbitration Network, is proposed in this paper. First, policies for constructing the architecture are discussed and then the proposed architecture is designed according to these policies. In the proposed architecture, each competence of a humanoid is differentiated based on the behavior‐based framework and individual agents represent these differentiated competences. An agent consists of NetIBSI, which describes behavior patterns of the agent using state transition network, and the Conflict Resolution Strategy, which mediates with other agents. Autonomous distributed cooperation among agents becomes possible through these two components. The effect of the cooperation among multiple agents is to achieve various behavior patterns for humanoids. The proposed architecture was implemented in two types of humanoids constructed in our laboratory. It was able to realize fall avoidance behavior that required quick response and goal search behavior that required cooperation between two agents. The obtained results demonstrate that the proposed architecture is capable of generating complicated and intelligent behaviors for humanoids. © 2002 Wiley Periodicals, Inc. Syst Comp Jpn, 33(6): 32–43, 2002; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/scj.1130