Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.
Mobile robot exploration and navigation of indoor spaces using sonar and vision
1994-03-01
Aufsatz (Konferenz)
Keine Angabe
Englisch