DocumentCode :
3567974
Title :
Localized qualitative navigation for indoor environments
Author :
Sgouros, N.M. ; Papakonstantinou, G. ; Tsanakas, P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Tech. Univ. of Athens, Greece
Volume :
1
fYear :
1996
Firstpage :
921
Abstract :
We describe a novel architecture for indoor navigation, based on qualitative representations of the variations in the interactions between the robot and its environment. We use these representations to localize and guide planning and reaction. The system accepts off-line as input a topological diagram of the environment. It then uses numerical simulation to generate a map, describing qualitative variations in the sensor behavior between adjacent regions in space. An off-line planner stores localized navigation information at each point in the map. During execution, an adaptive controller uses a short-term memory to improve its operation. The qualitative nature of our method, along with the localization performed by the topological planner result in a compact map representation and in linear-time performances for position estimation and path planning during execution. This architecture has been tested in simulation. Our results show that the proposed navigation method is tolerant of sensor inaccuracies, both in obstacle detection and orientation
Keywords :
adaptive control; common-sense reasoning; mobile robots; navigation; path planning; position control; topology; adaptive controller; indoor environments; localization; localized qualitative navigation; map generation; mobile robots; obstacle detection; path planning; position estimation; qualitative map representations; topological diagram; Adaptive control; Indoor environments; Navigation; Numerical simulation; Orbital robotics; Path planning; Programmable control; Robot sensing systems; Sensor phenomena and characterization; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-2988-0
Type :
conf
DOI :
10.1109/ROBOT.1996.503890
Filename :
503890
Link To Document :
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