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Global Navigation of Assistant Robots using Partially Observable Markov Decision Processes InTech
Maria Elena Lopez; Rafael Barea; Luis Miguel Bergasa; Manuel Ocana; Maria Soledad Escudero.
The proposed navigation system, based on a topological representation of the world, allows the robot to robustly navigate in corridor and structured environments. This is a very practical issue in assistance applications, in which robots must perform guidance missions from room to room in environments typically structured in corridors and rooms, such as hospitals or nursing homes. Although the topological map consists of very simple and reduced information about the environment, a set of robust local navigation behaviors (the actions of the model) allow the robot to locally move in corridors, reacting to sensor information and avoiding collisions, without any previous metric information. Another important subject in robot navigation is robustness in...
Tipo: 13 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/global_navigation_of_assistant_robots_using_partially_observable_markov_decision_processes
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