Title :
Extraction of salient features for mobile robot navigation via teleoperation
Author :
Peng, Jian ; Peters, Alan
Author_Institution :
Dept. of Electr. Eng., Tennessee State Univ., Nashville, TN, USA
Abstract :
This paper presents a method to extract salient features from sensory-motor sequences for mobile robot navigation via teleoperation. Salient feature extraction consists of three steps: teleoperation, offline association, and evaluation. First, the mobile robot is teleoperated in an environment along a path several times. All sensory data and motor drive commands are recorded. During an offline association step, these sensory-motor sequences are partitioned into episodes according to changes in motor commands. Salient features are then extracted by using two statistical criteria: consistency and correlation with the motor commands within the episode boundaries. Finally, these features are used to drive the robot in the learned environment. Some experiment results are also presented.
Keywords :
feature extraction; mobile robots; telerobotics; mobile robot navigation; motor drive commands; salient features extraction; sensory data; sensory-motor sequences; teleoperation; Computer vision; Couplings; Data mining; Feature extraction; Mobile robots; Motor drives; Navigation; Robot kinematics; Robot sensing systems; Sliding mode control;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470772