Utilize este identificador para referenciar este registo:
https://hdl.handle.net/10316/12922
Título: | Learning sensor-based navigation of a real mobile robot in unknown worlds | Autor: | Araújo, Rui Almeida, Aníbal T. de |
Palavras-chave: | Learning systems; Mobile root navigation | Data: | Abr-1999 | Editora: | IEEE | Citação: | IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics. 29:2 (1999) 164-178 | Resumo: | In this paper, we address the problem of navigating an autonomous mobile robot in an unknown indoor environment. The parti-game multiresolution learning approach is applied for simultaneous and cooperative construction of a world model, and learning to navigate through an obstacle-free path from a starting position to a known goal region. The paper introduces a new approach, based on the application of the fuzzy ART neural architecture, for on-line map building from actual sensor data. This method is then integrated, as a complement, on the parti-game world model, allowing the system to make a more efficient use of collected sensor information. Then, a predictive on-line trajectory filtering method, is introduced in the learning approach. Instead of having a mechanical device moving to search the world, the idea is to have the system analyzing trajectories in a predictive mode, by taking advantage of the improved world model. The real robot will only move to try trajectories that have been predicted to be successful, allowing lower exploration costs. This results in an overall improved new method for goal-oriented navigation. It is assumed that the robot knows its own current world location-a simple dead-reckoning method is used for localization in our experiments. It is also assumed that the robot is able to perform sensor-based obstacle detection (not avoidance) and straight-line motions. Results of experiments with a real Nomad 200 mobile robot are presented, demonstrating the effectiveness of the discussed methods | URI: | https://hdl.handle.net/10316/12922 | ISSN: | 1083-4419 | DOI: | 10.1109/3477.752791 | Direitos: | openAccess |
Aparece nas coleções: | FCTUC Eng.Electrotécnica - Artigos em Revistas Internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
---|---|---|---|---|
Learning sensor-based navigation.pdf | 576.95 kB | Adobe PDF | Ver/Abrir |
Citações SCOPUSTM
33
Visto em 7/out/2024
Citações WEB OF SCIENCETM
26
Visto em 2/out/2024
Visualizações de página
277
Visto em 15/out/2024
Downloads 20
901
Visto em 15/out/2024
Google ScholarTM
Verificar
Altmetric
Altmetric
Todos os registos no repositório estão protegidos por leis de copyright, com todos os direitos reservados.