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A purely reactive navigation scheme for dynamic environments using Case-Based Reasoning

delete2006-04-22
delete15
PRE
AI
C
Cristina Urdiales *
E
Eduardo Pérez
J
Javier Vázquez-Salceda
M
Miquel Sànchez–Marrè
F
F. Sandoval
DOI：10.1007/s10514-006-7231-8delete
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Abstract

Abstract

En 中文
This paper presents a new sonar based purely reactive navigation technique for mobile platforms. The method relies on Case-Based Reasoning to adapt itself to any robot and environment through learning, both by observation and self experience. Thus, unlike in other reactive techniques, kinematics or dynamics do not need to be explicitly taken into account. Also, learning from different sources allows combination of their advantages into a safe and smooth path to the goal. The method has been succesfully implemented on a Pioneer robot wielding 8 Polaroid sonar sensors.
Keywords:
reactive navigation
case-based reasoning
learning

Journal

Autonomous Robots cover
Autonomous Robots
IF:
4.3
Papers:
1.7K
Citations:
5.0K

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No organization information available