Combining probabilistic map and dialog for robust life-long office navigation

Author

Asoh, H. ; Motomura, Y. ; Hara, I. ; Akaho, S. ; Hayamizu, S. ; Matsui, T.

Author_Institution

Electrotech. Lab., Ibaraki, Japan

Volume

2

fYear

1996

fDate

4-8 Nov 1996

Firstpage

807

Abstract

A design of mobile robot for robust life-long navigation in office environment is proposed and evaluated. The key idea is combining probabilistic map and dialog with humans for reducing the location uncertainty. Bayesian inference with the map represented by probabilistic automata is used in order to reduce the number of queries and to evaluate the success rate of planned paths. We experimentally implemented the design using a simple Bayesian network with continuous nodes and demonstrated its effectiveness in a real environment

Keywords

Bayes methods; computerised navigation; inference mechanisms; learning (artificial intelligence); mobile robots; navigation; probabilistic automata; robust control; Bayesian inference; Bayesian network; continuous nodes; dialog; location uncertainty; mobile robot; probabilistic automata; probabilistic map; robust life-long office navigation; Bayesian methods; Humans; Infrared sensors; Intelligent robots; Mobile robots; Navigation; Robot sensing systems; Robustness; Tactile sensors; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.571056

Filename

571056