Intelligent Agent Integration of On-Board and Off-Board Sensors Systems for Mobile Robot Path Planning

Abstract:

The paper describes a novel approach of using distributed intelligent agents for the integration on-board and off-board sensors for mobile robot path planning in indoor environments. The system gives the robot a prior knowledge about the path state, which will be taken by the robot during navigating from an initial position to a target point. This enables the robot to intelligently decide in advance which path should be taken before reaching a point where a barrier to progress may have appeared. The system takes advantage of surveillance cameras already in buildings to aid the robot to plan a path. We have built intelligent agent based system that supports controlling the robot efficiently, using cameras available in the building and managing the communication between agents. The multi-agent system architecture includes two platforms, each platform consist of different agents connected together wirelessly using a JADE middleware platform.

• Periodical: Advanced Materials Research (Volumes 403-408)
• Pages: 4893-4900
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.403-408.4893
• Online since: November 2011
• Authors: Fayeq Kamal, Keith Brown, Nick Taylor
• Keywords: Distributed Sensing, Intelligent Agent, Jade, Mobile Robotic, Path Planning

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