Achieving high performance sonar-based wall-following

Carlos Puchol
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引用次数: 1

Abstract

In this paper we develop a technique to achieve robust high performance real-time wallfollowing behavior of a mobile robot in an indoor office environment, more specifically, in a corridor environment. The mobile robot achieves increasingly better performance by learning the environment's (most important) features in successive runs through it. This allows the robot to perform the task repeatedly, reliably, increasing the speed at which it is done after every step, without losing accuracy. We are basing our approach in the Spatial Semantic Hiearchy [Kuipers et. al. 1993].

实现基于声纳的高性能墙体跟踪
在本文中,我们开发了一种在室内办公环境中实现移动机器人鲁棒高性能实时墙跟踪行为的技术,更具体地说,在走廊环境中。移动机器人通过在连续运行中学习环境(最重要的)特征来获得越来越好的性能。这使得机器人能够重复、可靠地执行任务,提高每一步完成的速度,而不会失去准确性。我们的方法基于空间语义层次[Kuipers et al. 1993]。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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