In this paper, we consider taking tau-margin, which specifies time remaining before collision without information of speed and distance proposed in ecological psychology, into design of mobile robot. We try to reduce state-space and give the robot robustness for change in speed by using tau-margin. We carried out various simulations to evaluate the performance of hypnosis’s mobile robot. As a result, we confirmed the robot could achieve obstacle avoidance task regardless of changing in speed of robot. At the next stage, we are planning to test the usefulness of tau-margin to the implemented robot.

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