Motor Schema — Based Mobile Robot Navigation

TLDR

Motor schemas, defined as concurrent behavior processes linked to perceptual schemas, provide a neuro‑inspired framework for mobile robot navigation. The authors employ a variant of the potential‑field method to generate velocity and steering commands for the robot. Simulations and real‑world experiments confirm the feasibility of this motor‑schema based navigation approach.

Abstract

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.