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A Behaviour-Based Architecture for Mapless Navigation Using Vision Regular Paper

Lookup NU author(s): Mehmet Güzel, Dr Bob Bicker

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Abstract

Autonomous robots operating in an unknown and uncertain environment must be able to cope with dynamic changes to that environment. For a mobile robot in a cluttered environment to navigate successfully to a goal while avoiding obstacles is a challenging problem. This paper presents a new behaviour-based architecture design for mapless navigation. The architecture is composed of several modules and each module generates behaviours. A novel method, inspired from a visual homing strategy, is adapted to a monocular vision-based system to overcome goal-based navigation problems. A neural network-based obstacle avoidance strategy is designed using a 2-D scanning laser. To evaluate the performance of the proposed architecture, the system has been tested using Microsoft Robotics Studio (MRS), which is a very powerful 3D simulation environment. In addition, real experiments to guide a Pioneer 3-DX mobile robot, equipped with a pan-tilt-zoom camera in a cluttered environment are presented. The analysis of the results allows us to validate the proposed behaviour-based navigation strategy.


Publication metadata

Author(s): Guzel MS, Bicker R

Publication type: Article

Publication status: Published

Journal: International Journal of Advanced Robotic Systems

Year: 2012

Volume: 9

Pages: 18

Print publication date: 01/04/2012

ISSN (print): 1729-8806

ISSN (electronic): 1729-8814

Publisher: InTech Open Access Publisher

URL: http://dx.doi.org/ 10.5772/46200

DOI: 10.5772/46200


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