Problems and solutions in acquisition and interpretation of sensorial data on a mobile robot

Author

Agazzi, Giovanni ; Bonarini, Andrea

Author_Institution

IDSIA, Lugano, Switzerland

Volume

2

fYear

1999

fDate

1999

Firstpage

831

Abstract

We discuss some guidelines to cope with problems that arise when using cheap and simple sensors on mobile, autonomous, robotic agents. In particular we focus on the perceptual aliasing problem and on the possibility to perform active sensor data acquisition. We present a robotic architecture that we have implemented on a real robot following the proposed guidelines. The obtained mobile robot satisfies the design specifications, navigating autonomously in an unstructured environment

Keywords

ART neural nets; active vision; collision avoidance; fuzzy neural nets; learning (artificial intelligence); mobile robots; robot vision; sensor fusion; active perception; active sensor data acquisition; autonomous navigation; collision avoidance; control strategy; data interpretation; design specifications; fuzzy ARTMAP; incremental supervised learning; low cost sensors; machine learning; mobile autonomous robotic agents; perceptual aliasing problem; reinforcement learning; robotic architecture; sensor fusion; sensorial data acquisition problems; unstructured environment; world states selection; Autonomous agents; Collaboration; Data acquisition; Guidelines; Mobile robots; Robot sensing systems; Sensor phenomena and characterization; Standardization;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1999. IMTC/99. Proceedings of the 16th IEEE

Conference_Location

Venice

ISSN

1091-5281

Print_ISBN

0-7803-5276-9

Type

conf

DOI

10.1109/IMTC.1999.776982

Filename

776982