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A hybrid autonomous robot navigation method based on artificial intelligence and soft computing techniques

2003Conference object Restricted access
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dc.contributor.authorKiss, L.
dc.contributor.authorVarkonyi-koczy, A. R.
dc.contributor.authorRuano, M. Graça
dc.date.accessioned2015-04-13T14:53:38Z
dc.date.available2015-04-13T14:53:38Z
dc.date.issued2003
dc.description.abstractThe main problem to be solved for autonomous indoor robots is that the environment where they have to move safety is only partially known and possibly dynamically changing. In this paper a hybrid navigation method is proposed, using two techniques that deal with a priori information and sensory data separately, thus blending the intelligence and optimality of global navigation methods with the reactivity and low complexity of local ones. The first, global navigation module, based on a priori information, chooses intermediary goals for the local navigation module, for which the so called A* algorithm is used. The second part, carrying out the (local) navigation relying on sensory data, applies a fuzzy-neural representation of an improved potential field based guiding navigation tool. Vision based obstacle detection is implemented by difference detection based on a combination of RGB and HSV representations of the pixels. Copyright (C) 2003 IFAC.
dc.description.sponsorshipInt Federat Automat Control, IEEE, Int Fuzzy Syst Assoc, Neural Networks Soc
dc.identifier.isbn0-08-044088-6
dc.identifier.otherAUT: MRU00118;
dc.identifier.urihttp://hdl.handle.net/10400.1/5886
dc.language.isoeng
dc.peerreviewedyes
dc.publisherPergamon- Elsevier Science Ltd
dc.relation.ispartofIFAC Proceedings series
dc.subjectMobile robots
dc.subjectLocal navigation
dc.subjectGlobal navigation
dc.subjectVision-based obstacle detection
dc.subjectPotential field based guiding
dc.subjectA* algorithm
dc.titleA hybrid autonomous robot navigation method based on artificial intelligence and soft computing techniques
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceFaro, Portugal
oaire.citation.endPage248
oaire.citation.startPage243
oaire.citation.titleIFAC International Conference on Intelligent Control Systems and Signal Processing- 2003
person.familyNameRuano
person.givenNameMaria
person.identifier.ciencia-id9811-A0DD-D5A5
person.identifier.orcid0000-0002-0014-9257
person.identifier.ridA-8321-2011
person.identifier.scopus-author-id7004483805
rcaap.rightsrestrictedAccess
rcaap.typeconferenceObject
relation.isAuthorOfPublication61fc8492-d73f-46ca-a3a3-4cd762a784e6
relation.isAuthorOfPublication.latestForDiscovery61fc8492-d73f-46ca-a3a3-4cd762a784e6

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