Qualitative navigation for mobile robots in indoor environments

被引：2
|
作者：
Sgouros, NM [1 ]
机构：
[1] Univ Piraeus, Dept Informat, Piraeus 18534, Greece
来源：
APPLIED ARTIFICIAL INTELLIGENCE | 2001年 / 15卷 / 03期
关键词：
D O I：
10.1080/08839510151063217
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This article describes a novel qualitative navigation method for mobile robots in indoor environments. The approach is based on qualitative representations of variations in sensor behavior between adjacent regions in space. These representations are used to localize and guide planning and reaction. Off-line, the system accepts as input a line-based diagram of the environment and generates a map based on a simple qualitative model of sensor behavior. During execution, the robot controller integrates this map into a reaction module. This architecture has been tested both in simulation and on a real mobile robot. Results from both trials are provided.
引用
收藏
页码：237 / 251
页数：15
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