A Behaviour-Based Architecture for Mapless Navigation Using Vision
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-b...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2012-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/46200 |
| _version_ | 1811214471637499904 |
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| author | Mehmet Serdar Guzel Robert Bicker |
| author_facet | Mehmet Serdar Guzel Robert Bicker |
| author_sort | Mehmet Serdar Guzel |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-12T06:04:09Z |
| format | Article |
| id | doaj.art-a20bcf2cbd37471ca3a4be00c59edbc6 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-12T06:04:09Z |
| publishDate | 2012-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a20bcf2cbd37471ca3a4be00c59edbc62022-12-22T03:44:56ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-04-01910.5772/4620010.5772_46200A Behaviour-Based Architecture for Mapless Navigation Using VisionMehmet Serdar GuzelRobert BickerAutonomous 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.https://doi.org/10.5772/46200 |
| spellingShingle | Mehmet Serdar Guzel Robert Bicker A Behaviour-Based Architecture for Mapless Navigation Using Vision International Journal of Advanced Robotic Systems |
| title | A Behaviour-Based Architecture for Mapless Navigation Using Vision |
| title_full | A Behaviour-Based Architecture for Mapless Navigation Using Vision |
| title_fullStr | A Behaviour-Based Architecture for Mapless Navigation Using Vision |
| title_full_unstemmed | A Behaviour-Based Architecture for Mapless Navigation Using Vision |
| title_short | A Behaviour-Based Architecture for Mapless Navigation Using Vision |
| title_sort | behaviour based architecture for mapless navigation using vision |
| url | https://doi.org/10.5772/46200 |
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