Hybrid navigation guidance for intelligent mobiles

This paper presents a hybrid layered architecture for intelligent transportation. The system relies on integrating odometry, DGPS and compass readings for localization and deliberative planning, whereas the path is tracked at low level by means of a CBR based reactive navigation algorithm capable of adapting to the vehicle kinematics and environment conditions through learning. The system has been successfully tested using a 4-wheeled outdoors robot Pioneer AT

[1]  Wolfram Burgard,et al.  Map learning and high-speed navigation in RHINO , 1998 .

[2]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[3]  A. Bandera,et al.  Hierarchical planning in a mobile robot for map learning and navigation , 2003 .

[4]  Oussama Khatib,et al.  Elastic bands: connecting path planning and control , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[6]  Hans P. Moravec.  Sensor Fusion in Certainty Grids for Mobile Robots , 1988, AI Mag..

[7]  Wolfram Burgard,et al.  The dynamic window approach to collision avoidance , 1997, IEEE Robotics Autom. Mag..

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

[9]  Lindsay Kleeman.  Advanced sonar and odometry error modeling for simultaneous localisation and map building , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[10]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[11]  E. J. Perez,et al.  A hybrid architecture for autonomous navigation in dynamic environments , 2003 .

[12]  Iwan Ulrich,et al.  VFH/sup */: local obstacle avoidance with look-ahead verification , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  Cristina Urdiales,et al.  A hybrid architecture for autonomous navigation using a CBR reactive layer , 2003, IEEE/WIC International Conference on Intelligent Agent Technology, 2003. IAT 2003..

[14]  Huosheng Hu,et al.  A parallel processing architecture for sensor-based control of intelligent mobile robots , 1996, Robotics Auton. Syst..

[15]  Mohinder S. Grewal,et al.  Global Positioning Systems, Inertial Navigation, and Integration , 2000 .