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A Wandering Braitenberg Vehicle 2b That Densely Covers a Bounded Workspace

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Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

Braitenberg vehicles have been used in robotics for decades on an empirical basis. This paper presents the dynamic equations describing the motion of vehicle 2b and derives a wandering control mechanism based on them. Using this controller, a dual-drive vehicle is proved to move continuously on a bounded environment without colliding with obstacles. Unlike other wandering mechanisms, it does not rely on a stochastic component, but instead its motion is determined by a system of deterministic nonlinear differential equations. We prove that, under some assumptions on the workspace and controller, the mechanism generates dense trajectories on the workspace. Dense trajectories are suitable for coverage tasks. Simulations of a robot with range sensing capabilities are used to test the theoretical results. This work presents the application of some of the first formal, non purely empirical, results of Braitenberg vehicles to robotics.

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Author information

Authors and Affiliations

  1. Institut für Neuroinformatik, Ruhr-Universität-Bochum, Germany

    Iñaki Rañó & Jean-Stephane Jokeit

Authors
  1. Iñaki Rañó
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  2. Jean-Stephane Jokeit
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Rañó, I., Jokeit, JS. (2012). A Wandering Braitenberg Vehicle 2b That Densely Covers a Bounded Workspace. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_4

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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