NDLI: Integration of topological and geometrical planning in a learning mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Wallner, F. Kaiser, M. Freidrich, H. Dillman, R.
Copyright Year	1994
Description	Author affiliation: Karlsruhe Univ., Germany (Wallner, F.; Kaiser, M.; Freidrich, H.; Dillman, R.)
Abstract	The problem of adapting mobile robot navigation to changes in the environment is usually approached by modifying an internal world model. Descriptions on different levels of abstraction provide the information necessary for navigation and therefore influence the robot's behaviour. The effect of such indirect adaptation is limited. The approach presented in this paper describes a new technique for direct integration of navigation experience in path planning. Thus, not only the world knowledge, but also the planning behaviour is improved over time. Experiments are carried out on a robot which is controlled by a layered architecture. It is integrated in a multirobot control environment which is described. The focus of the article is towards improving the higher navigation levels. The main idea being presented is the realization of adaptive behaviour not only on the level of reflexes, but also with respect to the planning capabilities of the robot. The application of learning techniques allows to continuously improve the estimation of plan costs and therefore the inherent strategy of the topological planner. It is illustrated that a combined learning of world description and navigation allows fast and sophisticated reaction to new environmental conditions.
Starting Page	1
Ending Page	8
File Size	750099
Page Count	8
File Format	PDF
ISBN	0780319338
DOI	10.1109/IROS.1994.407416
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-09-12
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Navigation Radio control Real time systems Path planning Robot control Vehicles Mars Computer science
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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