Browse by author
Lookup NU author(s): Mehmet Güzel, Dr Bob Bicker
Full text for this publication is not currently held within this repository. Alternative links are provided below where available.
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.
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
Altmetrics provided by Altmetric
