A CBR approach to Behaviour-Based Navigation for an Autonomous Mobile Robot

Author

Poncela, Alberto ; Urdiales, Cristina ; Sandoval, Francisco

Author_Institution

Departamento de Tecnologia Electronica, Univ. de Malaga

fYear

2007

fDate

10-14 April 2007

Firstpage

3681

Lastpage

3686

Abstract

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 successfully tested in real environments with a Pioneer robot equipped with 8 frontal sonar sensors.

Keywords

case-based reasoning; learning (artificial intelligence); mobile robots; navigation; sonar; Pioneer robot; autonomous mobile robot; behaviour-based navigation; case-based reasoning; corridor following; door crossing; learning; sonar sensor readings; wall following; Fuzzy logic; Mobile robots; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems; Sonar navigation; Switches; Telecommunication switching; Testing; Behaviour; case-based reasoning; learning; navigation; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364042

Filename

4209660