A CBR approach to behaviour-based navigation for an autonomous mobile robot

被引：6

作者：

Poncela, Alberto ^{[1
]}

Urdiales, Cristina ^{[1
]}

Sandoval, Francisco ^{[1
]}

机构：

[1] Univ Malaga, ETSI Telecomun, Dept Tecnol Elect, Campus Teatinos, E-29071 Malaga, Spain

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

behaviour; navigation; learning; case-based reasoning; robot;

D O I：

10.1109/ROBOT.2007.364042

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new CBR navigation scheme based on three behaviours: Wall Following, Corridor Following and Door Crossing. The system switches among CBR behaviours depending on a local grid built around the robot from sonar sensor readings. The main advantage of the proposed system is that it can easily adapt to any robot and environment, learning, both by training and by its own experience. The method has been succesfully tested in real environments with a Pioneer robot equipped with 8 frontal sonar sensors.

引用

页码：3681 / +

页数：2

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