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Global Navigation in Dynamic Environments Using Case-Based Reasoning
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
2004 (English)In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 14, no 1, p. 71-91Article in journal (Refereed) Published
Abstract [en]

This paper presents a global navigation strategy for autonomous mobile robots in large-scale uncertain environments. The aim of this approach is to minimize collision risk and time delays by adapting to the changes in a dynamic environment. The issue of obstacle avoidance is addressed on the global level. It focuses on a navigation strategy that prevents the robot from facing the situations where it has to avoid obstacles. To model the partially known environment, a grid-based map is used. A modified wave-transform algorithm is described that finds several alternative paths from the start to the goal. Case-based reasoning is used to learn from past experiences and to adapt to the changes in the environment. Learning and adaptation by means of case-based reasoning permits the robot to choose routes that are less risky to follow and lead faster to the goal. The experimental results demonstrate that using case-based reasoning considerably increases the performance of the robot in a difficult uncertain environment. The robot learns to take actions that are more predictable, minimize collision risk and traversal time as well as traveled distances.

Place, publisher, year, edition, pages
Springer Netherlands , 2004. Vol. 14, no 1, p. 71-91
Keywords [en]
Robot navigation, Case-based reasoning, Obstacle avoidance, Dynamic environments
Identifiers
URN: urn:nbn:se:hh:diva-222DOI: 10.1023/A:1020979520454ISI: 000179067700005Scopus ID: 2-s2.0-0037269763Local ID: 2082/517OAI: oai:DiVA.org:hh-222DiVA, id: diva2:237400
Available from: 2006-11-24 Created: 2006-11-24 Last updated: 2017-12-13Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf