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

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...

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Bibliographic Details
Published inAutonomous robots Vol. 21; no. 1; pp. 65 - 78
Main Authors Urdiales, C., Perez, E. J., Vázquez-Salceda, J., Sànchez-Marrè, M., Sandoval, F.
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Nature B.V 01.08.2006
Subjects
Kinematics
Learning
Navigation
Reasoning
Robots
Sonar
Studies
Online AccessGet full text
ISSN0929-5593
1573-7527
DOI10.1007/s10514-006-7231-8

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Summary: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.
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ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-006-7231-8