Local perception maps and navigation for a mobile robot
Autor(a) principal: | |
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Data de Publicação: | 1996 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://proa.ua.pt/index.php/revdeti/article/view/19824 |
Resumo: | This paper describes a mobile robotics system that was implemented and is capable of building instantaneous representations of the free space available, and use those representations to perform navigation. The free space representations are done by means of perception maps specially designed to hold and combine ultrasonic data. Themaps are built by neural networks appropriately trained to minimise undesired ranging errors due to specularreflections; that is achieved by taking advantage of the redundancy of sensorial data. The concept of localnavigation is developed as a new navigation approach, and is based on full independence on the environment, relying purely on sensorial perception. Local motion is generated according to simple generic behaviour descriptions: the local navigation strategies. The system, which was implemented, guarantees a safe local motion throughout the environment, requiring no a priori information nor any pre-defined path to follow. An adequate navigation architecture integrates the local navigation module within a framework of other several modules for more complete navigation tasks. The results obtained are quite promising in pointing the way to an autonomous system. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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Local perception maps and navigation for a mobile robotThis paper describes a mobile robotics system that was implemented and is capable of building instantaneous representations of the free space available, and use those representations to perform navigation. The free space representations are done by means of perception maps specially designed to hold and combine ultrasonic data. Themaps are built by neural networks appropriately trained to minimise undesired ranging errors due to specularreflections; that is achieved by taking advantage of the redundancy of sensorial data. The concept of localnavigation is developed as a new navigation approach, and is based on full independence on the environment, relying purely on sensorial perception. Local motion is generated according to simple generic behaviour descriptions: the local navigation strategies. The system, which was implemented, guarantees a safe local motion throughout the environment, requiring no a priori information nor any pre-defined path to follow. An adequate navigation architecture integrates the local navigation module within a framework of other several modules for more complete navigation tasks. The results obtained are quite promising in pointing the way to an autonomous system.Este artigo descreve um sistema robótico móvel realmente implementado e que é capaz de construir representações instantâneas do espaço livre circundante e de as usar para fazer navegação. As representações do espaço livre são feitas usando mapas de percepção especialmente concebidos para conter e combinar dados de ultra-som. Os mapas são construídos usando redes neuronais treinadas para minimizar erros de medição devidos a reflexões especulares; isso é conseguido tirando partido da redundância dos dados sensoriais. O conceito de navegação local é desenvolvido como uma nova abordagem da navegação completamente independente do ambiente contando simplesmente com os dados sensoriais. O movimento local é gerado de acordo com simples descrições de comportamento: as estratégias de navegação local. O sistema implementado garante movimento local no ambiente com segurança e sem qualquer informação a priori ou qualquer trajectória pré-definida. Uma arquitectura de navegação integra todo um conjunto de módulos, entre os quais a navegação local, de forma a permitir tarefas completas de navegação. Os resultados obtidos são muito prometedores para o desenvolvimento de sistemas autónomos.UA Editora1996-01-01T00:00:00Zjournal articleinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://proa.ua.pt/index.php/revdeti/article/view/19824oai:proa.ua.pt:article/19824Eletrónica e Telecomunicações; Vol 1 No 6 (1996); 543-548Eletrónica e Telecomunicações; vol. 1 n.º 6 (1996); 543-5482182-97721645-0493reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAPenghttps://proa.ua.pt/index.php/revdeti/article/view/19824https://proa.ua.pt/index.php/revdeti/article/view/19824/14388https://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessSantos, Vítor M. F.Gonçalves, João G. M.Vaz, Francisco2022-09-26T11:00:45Zoai:proa.ua.pt:article/19824Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T16:08:51.993882Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Local perception maps and navigation for a mobile robot |
title |
Local perception maps and navigation for a mobile robot |
spellingShingle |
Local perception maps and navigation for a mobile robot Santos, Vítor M. F. |
title_short |
Local perception maps and navigation for a mobile robot |
title_full |
Local perception maps and navigation for a mobile robot |
title_fullStr |
Local perception maps and navigation for a mobile robot |
title_full_unstemmed |
Local perception maps and navigation for a mobile robot |
title_sort |
Local perception maps and navigation for a mobile robot |
author |
Santos, Vítor M. F. |
author_facet |
Santos, Vítor M. F. Gonçalves, João G. M. Vaz, Francisco |
author_role |
author |
author2 |
Gonçalves, João G. M. Vaz, Francisco |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
Santos, Vítor M. F. Gonçalves, João G. M. Vaz, Francisco |
description |
This paper describes a mobile robotics system that was implemented and is capable of building instantaneous representations of the free space available, and use those representations to perform navigation. The free space representations are done by means of perception maps specially designed to hold and combine ultrasonic data. Themaps are built by neural networks appropriately trained to minimise undesired ranging errors due to specularreflections; that is achieved by taking advantage of the redundancy of sensorial data. The concept of localnavigation is developed as a new navigation approach, and is based on full independence on the environment, relying purely on sensorial perception. Local motion is generated according to simple generic behaviour descriptions: the local navigation strategies. The system, which was implemented, guarantees a safe local motion throughout the environment, requiring no a priori information nor any pre-defined path to follow. An adequate navigation architecture integrates the local navigation module within a framework of other several modules for more complete navigation tasks. The results obtained are quite promising in pointing the way to an autonomous system. |
publishDate |
1996 |
dc.date.none.fl_str_mv |
1996-01-01T00:00:00Z |
dc.type.driver.fl_str_mv |
journal article info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://proa.ua.pt/index.php/revdeti/article/view/19824 oai:proa.ua.pt:article/19824 |
url |
https://proa.ua.pt/index.php/revdeti/article/view/19824 |
identifier_str_mv |
oai:proa.ua.pt:article/19824 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
https://proa.ua.pt/index.php/revdeti/article/view/19824 https://proa.ua.pt/index.php/revdeti/article/view/19824/14388 |
dc.rights.driver.fl_str_mv |
https://creativecommons.org/licenses/by/4.0/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by/4.0/ |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
UA Editora |
publisher.none.fl_str_mv |
UA Editora |
dc.source.none.fl_str_mv |
Eletrónica e Telecomunicações; Vol 1 No 6 (1996); 543-548 Eletrónica e Telecomunicações; vol. 1 n.º 6 (1996); 543-548 2182-9772 1645-0493 reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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