Mobile robot exploration and navigation of indoor spaces using sonar and vision

Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.

[1]  Maja J. Mataric,et al.  Integration of representation into goal-driven behavior-based robots , 1992, IEEE Trans. Robotics Autom..

[2]  Kenneth Basye,et al.  Coping with Uncertainty in a Control System for Navigation and Exploration , 1990, AAAI.

[3]  Eugene Charniak,et al.  Bayesian Networks without Tears , 1991, AI Mag..

[4]  Judea Pearl,et al.  Probabilistic reasoning in intelligent systems - networks of plausible inference , 1991, Morgan Kaufmann series in representation and reasoning.

[5]  Koren,et al.  Real-Time Obstacle Avoidance for Fast Mobile Robots , 2022 .

[6]  Yoram Koren,et al.  The vector field histogram-fast obstacle avoidance for mobile robots , 1991, IEEE Trans. Robotics Autom..

[7]  D. Miller,et al.  A spatial representation system for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[8]  Benjamin Kuipers,et al.  A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations , 1991, Robotics Auton. Syst..

[9]  Jeffrey Scott Vitter,et al.  Coping with Uncertainty in Map Learning , 1989, Machine Learning.

[10]  David Kortenkamp,et al.  Using Gateways To Build A Route Map , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Yoram Koren,et al.  Histogramic in-motion mapping for mobile robot obstacle avoidance , 1991, IEEE Trans. Robotics Autom..

[12]  Annie S. Wu,et al.  Vision based object pose estimation for mobile robots , 1994 .