Combination of model-based and reactive methods in autonomous navigation

Author

Maravall, D. ; De Lope, J. ; Serradilla, F.

Author_Institution

Dept. of Artificial Intelligence, Tech. Univ. of Madrid, Spain

Volume

3

fYear

2000

fDate

2000

Firstpage

2328

Abstract

The paper presents three contributions to autonomous navigation of mobile robots: (1) a purely reactive method based on the potential field theory enhanced with a novel procedure to avoid local minima; (2) a topological map building method based on the sensory gradient concept that combined with the reactive module constitutes a hybrid navigation system and (3) another navigation system that uses the robot´s behaviors to automatically build a complete navigation model of the environment. All these schemes have been implemented on a Nomad-200 platform and fully tested in indoors environments

Keywords

gradient methods; minimisation; mobile robots; navigation; topology; Nomad-200 platform; autonomous navigation; hybrid navigation system; indoors environments; local minimum avoidance; mobile robots; model-based methods; potential field theory; reactive methods; reactive module; sensory gradient; topological map building method; Artificial intelligence; Intelligent robots; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robotics and automation; Taxonomy; Testing; Tree data structures;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846374

Filename

846374