DocumentCode :
2856535
Title :
Coastal navigation-mobile robot navigation with uncertainty in dynamic environments
Author :
Roy, Nicholas ; Burgard, Wolfram ; Fox, Dieter ; Thrun, Sebastian
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
1
fYear :
1999
fDate :
1999
Firstpage :
35
Abstract :
Ships often use the coasts of continents for navigation in the absence of better tools such as GPS, since being close to land allows sailors to determine with high accuracy where they are. Similarly for mobile robots, in many environments global and accurate localization is not always feasible. Environments can lack features, and dynamic obstacles such as people can confuse and block sensors. We demonstrate a technique for generating trajectories that take into account both the information content of the environment, and the density of the people in the environment. These trajectories reduce the average positional certainty as the robot moves, reducing the likelihood the robot will become lost at any point. Our method was successfully implemented and used by the mobile robot Minerva, a museum tourguide robot, for a 2 week period in the Smithsonian National Museum of American History
Keywords :
Markov processes; entropy; mobile robots; path planning; probability; Minerva; Smithsonian National Museum of American History; average positional certainty; coastal navigation; dynamic environments; dynamic obstacles; museum tourguide robot; navigation; trajectories generation; uncertainty; Continents; Global Positioning System; History; Marine vehicles; Mobile robots; Navigation; Robot sensing systems; Sea measurements; Sensor phenomena and characterization; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
ISSN :
1050-4729
Print_ISBN :
0-7803-5180-0
Type :
conf
DOI :
10.1109/ROBOT.1999.769927
Filename :
769927
Link To Document :
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