How to describe the mobile robot's sensor-based behavior?

Shooji Suzuki, Maki K. Habib, Jun'ichi Iijima, Shin'ichi Yuta

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


In this paper a method to describe the sensor-based behavior of an autonomous mobile robot is considered. In a practical world, the robot's dynamic property and the uncertainty of the environment must be taken into account and the robot's behavior in a real environment cannot be represented by a simple sequence of a robot's motions. Therefore, a new concept of Action mode as a unit of a robot's motion representation is introduced. Action mode is defined by a control mode of an actuator with reference value, by conditions to watch environment situation changes, an by a procedure and transition of the Action mode in case the conditions met. The robot control language ROBOL/0 which is based on the concept of Action mode representation is proposed and implemented. The navigation of a mobile robot in a real world using sensors and map information is selected as an example to evaluate the effectiveness of the proposed methods.

Original languageEnglish
Pages (from-to)227-237
Number of pages11
JournalRobotics and Autonomous Systems
Issue number2-3
Publication statusPublished - 1991 Aug


  • Action mode
  • Mobile robot
  • ROBOL/0
  • Real-time navigation in the real environment
  • Real-time robot language

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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