{"title":"基于人工地标的拓扑移动机器人导航","authors":"David Esparza, J. Savage","doi":"10.1109/LARS.2013.54","DOIUrl":null,"url":null,"abstract":"One of the main goals of a household robot is to navigate in an environment in a safe way. Some prior work has addressed this assumption by using dead reckoning in combination with reactive behaviours to interact with unknown dynamic environment. This paper presents a mobile robot navigation system that uses a topological landmark based representation of the environment from which it is possible to find paths using the Dijkstra algorithm. In this way the robot is able to achieve its goal while avoiding obstacles using a reactive navigation approach based on the coordination of state machines.","PeriodicalId":136670,"journal":{"name":"2013 Latin American Robotics Symposium and Competition","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Topological Mobile Robot Navigation Using Artificial Landmarks\",\"authors\":\"David Esparza, J. Savage\",\"doi\":\"10.1109/LARS.2013.54\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One of the main goals of a household robot is to navigate in an environment in a safe way. Some prior work has addressed this assumption by using dead reckoning in combination with reactive behaviours to interact with unknown dynamic environment. This paper presents a mobile robot navigation system that uses a topological landmark based representation of the environment from which it is possible to find paths using the Dijkstra algorithm. In this way the robot is able to achieve its goal while avoiding obstacles using a reactive navigation approach based on the coordination of state machines.\",\"PeriodicalId\":136670,\"journal\":{\"name\":\"2013 Latin American Robotics Symposium and Competition\",\"volume\":\"50 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 Latin American Robotics Symposium and Competition\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/LARS.2013.54\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 Latin American Robotics Symposium and Competition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/LARS.2013.54","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Topological Mobile Robot Navigation Using Artificial Landmarks
One of the main goals of a household robot is to navigate in an environment in a safe way. Some prior work has addressed this assumption by using dead reckoning in combination with reactive behaviours to interact with unknown dynamic environment. This paper presents a mobile robot navigation system that uses a topological landmark based representation of the environment from which it is possible to find paths using the Dijkstra algorithm. In this way the robot is able to achieve its goal while avoiding obstacles using a reactive navigation approach based on the coordination of state machines.
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