Title :
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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846374
