NDLI: Perception-action method for mobile robot plan and control based on driving experience

Content Provider	IEEE Xplore Digital Library
Author	Li Hongjiang Tao Xiping Guo Muhe He KeZhong
Copyright Year	1996
Description	Author affiliation: Dept. of Artificial Intelligence, Tsinghua Univ., Beijing, China (Li Hongjiang)
Abstract	A method of navigation and control for mobile robot is introduced. It combines task planning and path tracking together with the principle of "perception-action" under the guidance of "goal planning". First, we discuss the behavior of the mobile robot in an outdoor real world for the purpose of setting up a mixed layered architecture with "perception-action" and "goal planning". Then a simple but effective approach of sensor based navigation and control is described for the implementation of the architecture. Finally, we give some improvements based on the human-driving experience concerning path tracking and control for the mobile robot moving on outdoor semistructured roads. The experiments carried out on our THMR-III (Tsinghua Mobile Robot III) mobile robot navigating in the real world showed the method described was effective and robust.
Starting Page	1508
Ending Page	1512
File Size	387367
Page Count	5
File Format	PDF
ISBN	0780332806
ISSN	1062922X
DOI	10.1109/ICSMC.1996.571370
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-10-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot control Navigation Intelligent robots Roads Robot sensing systems Intelligent sensors Path planning Robustness Helium
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in