污水管道中基于地标的自主导航

Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96) Pub Date : 1996-10-09 DOI:10.1109/EURBOT.1996.551883

Joachim Hertzberg, Frank Kirchner

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引用次数: 91

摘要

我们描述了一种自主移动机器人在污水管道系统中导航的方法。必须对管道系统中的地标信号位置进行检测和分类，在允许分类的情况下，分类确实不可靠。将自定位问题解释为部分可观测马尔可夫决策问题，并进行求解。该方法已在干式污水管道试验网络的原型机器人平台上实现并应用。

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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Landmark-based autonomous navigation in sewerage pipes

We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classified, where classification is allowed do be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot platform operating in a dry sewage pipe test network.

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Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)

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