A Door Lintel Locator Sensor for Mobile Robot Topological Navigation

During the navigation, the event detection is an important issue, because the success of a task depends on it. In this work the authors show a sonar sensorial device which detects door lintels. The system consists of a sonar aiming to the roof and a software module called virtual sonar. The goal of this device is to proportionate additional information to a topological navigation system in a mobile robot. This sensor provides an event input in the topological navigation system named AURON. AURON navigation system is based on a succession of sensorial events and sensorimotor actions. The more environment information the easier navigation is, avoiding the robot getting lost and relocalization process. AD mobile robot architecture is made up of a Deliberative level and an Automatic one. Virtual sensors, as the sonar sensor presented in this paper, are included in the automatic level.

[1]  Heinz Hügli,et al.  From topological knowledge to geometrical map , 1998 .

[2]  María Jesús López Boada,et al.  A perception system based on laser information for mobile robot topologic navigation , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[3]  María Jesús López Boada,et al.  Visual approach skill for a mobile robot using learning and fusion of simple skills , 2002, Robotics Auton. Syst..

[4]  Josef Kittler,et al.  A hierarchical approach to line extraction based on the Hough transform , 1990, Comput. Vis. Graph. Image Process..

[5]  María Jesús López Boada,et al.  Self-generation by a mobile robot of topological maps of corridors , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  Jean-Arcady Meyer,et al.  Biomimetic Navigation Models and Strategies in Animats , 1997, AI Commun..

[7]  Maja J. Matarić,et al.  A Distributed Model for Mobile Robot Environment-Learning and Navigation , 1990 .

[8]  Ramon Barber,et al.  A New Human Based Architecture for Intelligent Autonomous Robots , 2001 .

[9]  Sebastian Thrun,et al.  Integrating Grid-Based and Topological Maps for Mobile Robot Navigation , 1996, AAAI/IAAI, Vol. 2.

[10]  Ramon Barber,et al.  A planner for topological navigation based on previous experiences , 2004 .

[11]  Benjamin Kuipers,et al.  Towards a general theory of topological maps , 2004, Artif. Intell..

[12]  Rüdiger Dillmann,et al.  Integration of topological and geometrical planning in a learning mobile robot , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[13]  Ulrich Nehmzow,et al.  Animal and robot navigation , 1995, Robotics Auton. Syst..

[14]  François Charpillet,et al.  Mobile robot localization in dynamic environments using places recognition , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Francesco Zanichelli,et al.  Inducing topological maps from task-oriented perception and exploratory behaviors , 1997, Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots.