Title :
Behavior-based navigation for an indoor mobile robot
Author :
Taliansky, A. ; Shimkin, Nahum
Author_Institution :
Dept. of Electr. Eng., Technion-Israel Inst. of Technol., Haifa, Israel
Abstract :
Reports the implementation of a mobile robot system for autonomous indoor navigation. The system architecture is based on a hybrid approach, which combines a-priori knowledge stored in a hierarchical world model with reactive behavior-based control for navigation guidance and obstacle avoidance. The robot position estimation in the world frame is performed by an iconic matching algorithm and based on scanning laser rangefinder measurements
Keywords :
laser ranging; mobile robots; motion control; path planning; autonomous indoor navigation; behavior-based navigation; hierarchical world model; hybrid approach; iconic matching algorithm; indoor mobile robot; reactive behavior-based control; scanning laser rangefinder measurements; Automatic control; Control systems; Fuzzy logic; Manufacturing automation; Mobile robots; Navigation; Robot control; Robotics and automation; Uncertainty; Vehicle dynamics;
Conference_Titel :
Electrical and electronic engineers in israel, 2000. the 21st ieee convention of the
Conference_Location :
Tel-Aviv
Print_ISBN :
0-7803-5842-2
DOI :
10.1109/EEEI.2000.924394
