Title :
Hybrid navigation guidance for intelligent mobiles
Author :
Vázquez-Martin, R. ; Pérez, E.J. ; Urdiales, C. ; del Toro, J.C. ; Sandoval, F.
Author_Institution :
Dept. de Tecnologia Electron., Malaga Univ.
Abstract :
This paper presents a hybrid layered architecture for intelligent transportation. The system relies on integrating odometry, DGPS and compass readings for localization and deliberative planning, whereas the path is tracked at low level by means of a CBR based reactive navigation algorithm capable of adapting to the vehicle kinematics and environment conditions through learning. The system has been successfully tested using a 4-wheeled outdoors robot Pioneer AT
Keywords :
intelligent robots; mobile robots; navigation; path planning; remotely operated vehicles; robot kinematics; telerobotics; 4-wheeled outdoors robot Pioneer AT; deliberative planning; hybrid layered architecture; hybrid navigation guidance; intelligent mobiles; intelligent transportation; Collision avoidance; Global Positioning System; Intelligent transportation systems; Kinematics; Navigation; Path planning; Remotely operated vehicles; Telecommunications; Vehicle dynamics; Vehicle safety; Localization; Navigation; Planning; Reactive Behaviors; Sensor Fusion;
Conference_Titel :
Vehicular Technology Conference, 2006. VTC 2006-Spring. IEEE 63rd
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-9391-0
Electronic_ISBN :
1550-2252
DOI :
10.1109/VETECS.2006.1683417
