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Proceedings Paper

Environment model for mobile robots indoor navigation
Author(s): Yuval Roth-Tabak; Terry E. Weymouth
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Paper Abstract

An autonomous mobile robot must be able to combine uncertain sensory information with prior knowledge of the world. Moreover these operations have to be performed fast enough to be able to react to the changes in the world. This paper presents a model-driven system for a real-time indoor mobile robot. As the robot is constantly in motion information from an Environment Model is used to anticipate information-rich features and to direct selective sensing. Uncertain sensor information is combined with prior World Model knowledge to reduce uncertainty and the remaining uncertainty is directly represented by flexible ranges of values. We present a hall-following robot based on this system which exhibits real-time navigation performance. It does this despite primitive and relatively slow sensing motor control and communications capabilities. This system combines sensing action and cognition which are the major building blocks for any autonomous system.

Paper Details

Date Published: 1 March 1991
PDF: 11 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25491
Show Author Affiliations
Yuval Roth-Tabak, Univ. of Michigan (United States)
Terry E. Weymouth, Univ. of Michigan (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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