Title :
Problems and solutions in acquisition and interpretation of sensorial data on a mobile robot
Author :
Agazzi, Giovanni ; Bonarini, Andrea
Author_Institution :
IDSIA, Lugano, Switzerland
Abstract :
We discuss some guidelines to cope with problems that arise when using cheap and simple sensors on mobile, autonomous, robotic agents. In particular we focus on the perceptual aliasing problem and on the possibility to perform active sensor data acquisition. We present a robotic architecture that we have implemented on a real robot following the proposed guidelines. The obtained mobile robot satisfies the design specifications, navigating autonomously in an unstructured environment
Keywords :
ART neural nets; active vision; collision avoidance; fuzzy neural nets; learning (artificial intelligence); mobile robots; robot vision; sensor fusion; active perception; active sensor data acquisition; autonomous navigation; collision avoidance; control strategy; data interpretation; design specifications; fuzzy ARTMAP; incremental supervised learning; low cost sensors; machine learning; mobile autonomous robotic agents; perceptual aliasing problem; reinforcement learning; robotic architecture; sensor fusion; sensorial data acquisition problems; unstructured environment; world states selection; Autonomous agents; Collaboration; Data acquisition; Guidelines; Mobile robots; Robot sensing systems; Sensor phenomena and characterization; Standardization;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1999. IMTC/99. Proceedings of the 16th IEEE
Conference_Location :
Venice
Print_ISBN :
0-7803-5276-9
DOI :
10.1109/IMTC.1999.776982
