DocumentCode :
1677085
Title :
Path planning-by-learning with a Nomad 200 mobile robot
Author :
Araújo, Rui ; de Almeida, A.T.
Author_Institution :
Inst. of Syst. & Robotics, Coimbra Univ., Portugal
fYear :
1997
Firstpage :
779
Abstract :
In this article, the authors face the problem of navigating a mobile robot on an indoor environment, where the location and shape of obstacles is assumed to be initially unknown to the robot. They describe an approach for simultaneous learning of a world model, and learning to navigate from a start position to a goal region on the world. These two learning abilities may be seen as cooperating and enhancing each other in order to improve the overall system performance. It is assumed that the robot knows its own current world position. It is only additionally assumed that the mobile robot is able to perform sensor-based obstacle detection (not avoidance), and that it is able to perform straight-line motions. Results of simulation experiments are presented that demonstrate the effectiveness of the approach to navigate a Nomad 200 mobile robot
Keywords :
control system analysis; learning (artificial intelligence); mobile robots; navigation; path planning; position control; Nomad 200 mobile robot; control performance; control simulation; indoor environment navigation; learning abilities; path planning-by-learning; sensor-based obstacle detection; straight-line motions; world model learning; Control systems; Educational robots; Indoor environments; Mobile robots; Navigation; Robot control; Robot programming; Robot sensing systems; Shape; System performance;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on
Conference_Location :
Guimaraes
Print_ISBN :
0-7803-3936-3
Type :
conf
DOI :
10.1109/ISIE.1997.648638
Filename :
648638
Link To Document :
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