Low level navigation system for a POMDP based on WiFi and ultrasound observations

Author

Ocaña, M. ; Sotelo, M.A. ; Bergasa, L.M. ; Flores, R.

Author_Institution

Dept. of Electron., Alcala Univ., Madrid, Spain

fYear

2005

fDate

27-30 June 2005

Firstpage

335

Lastpage

340

Abstract

In this paper we present the low level navigation system carried out in a partially observable Markov decision process (POMDP) based on WiFi and ultrasound observations. We use an H-shape model for the corridor, obtained from ultrasound range sensor. This system leads the robot to follow a corridor while it´s detecting transitions for each door in autonomous mode. We demonstrate that this system is useful as low level navigator in a POMDP for indoor environments with a real robot. Some experimental results are shown. Finally, the conclusions and future works are presented.

Keywords

Markov processes; mobile robots; navigation; ultrasonic transducers; wireless LAN; H-shape model; POMDP; WiFi observation; autonomous system; indoor navigation system; low level navigation system; low level robot control; partially observable Markov decision process; ultrasound observation; ultrasound range sensor; Actuators; Ethernet networks; Indoor environments; Mobile robots; Navigation; Radio frequency; Robot sensing systems; Ultrasonic imaging; Wireless networks; Wireless sensor networks; POMDP; WiFi observation; autonomous system; indoor navigation system; low level robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554299

Filename

1554299