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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| Published in | Autonomous robots Vol. 21; no. 1; pp. 65 - 78 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Dordrecht
Springer Nature B.V
01.08.2006
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0929-5593 1573-7527 |
| DOI | 10.1007/s10514-006-7231-8 |
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| Abstract | 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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| AbstractList | 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. |
| Author | Urdiales, C. Vázquez-Salceda, J. Sandoval, F. Perez, E. J. Sànchez-Marrè, M. |
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| CitedBy_id | crossref_primary_10_1016_j_robot_2008_11_003 crossref_primary_10_1007_s11370_017_0238_5 crossref_primary_10_1016_j_neucom_2016_10_075 crossref_primary_10_1177_1687814015619276 crossref_primary_10_3390_s20174815 crossref_primary_10_1016_j_artmed_2012_08_007 crossref_primary_10_1142_S0219843612500065 crossref_primary_10_1145_3564240 crossref_primary_10_1016_j_envsoft_2018_01_017 |
| Cites_doi | 10.1109/ROBOT.1999.770075 10.1109/ROBOT.1994.351307 10.1177/0278364902021012002 10.1016/B978-1-55860-377-6.50032-3 10.1109/100.580977 10.1109/IROS.2003.1250701 10.1177/027836498600500106 10.1109/ROBOT.1993.291936 10.1109/ROBOT.1996.506576 10.1109/ROBOT.2000.846405 10.1023/A:1022686910523 10.1109/ROBOT.1999.770002 10.1023/A:1020979520454 10.1109/ROBOT.2001.932844 10.1007/3-540-58330-0_93 |
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| Title | A purely reactive navigation scheme for dynamic environments using Case-Based Reasoning |
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