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The International Journal of Robotics Research, Vol. 8, No. 4, 92-112 (1989)
DOI: 10.1177/027836498900800406

Motor Schema — Based Mobile Robot Navigation

Ronald C. Arkin

School of Information and Computer Science Georgia Institute of Technology Atlanta, Georgia

Motor schemas serve as the basic unit of behavior specifica tion for the navigation of a mobile robot. They are multiple concurrent processes that operate in conjunction with asso ciated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation be hind the use of schemas for this domain is drawn from neuro- scientific, psychological, and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. Simulation re sults and actual mobile robot experiments demonstrate the feasibility of this approach.


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