Learning to traverse doors using visual information

Mobile robots need to navigate in their environment in order to perform useful tasks. Doors appear in almost every office-like indoor environment and they have to be crossed often during the navigation process. We present in this paper a new approach that uses visual information to anticipate that a...

Full description

Saved in:
Bibliographic Details
Published in:Mathematics and computers in simulation 2002-09, Vol.60 (3), p.347-356
Main Authors: Monasterio, Iñaki, Lazkano, Elena, Rañó, Iñaki, Sierra, Basilo
Format: Article
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Connectionism. Neural networks
Control theory. Systems
Door traversing behavior
Exact sciences and technology
Mobile robots
Neural networks
Robotics
Visual door detection
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Mobile robots need to navigate in their environment in order to perform useful tasks. Doors appear in almost every office-like indoor environment and they have to be crossed often during the navigation process. We present in this paper a new approach that uses visual information to anticipate that a door has to be crossed. Combining then visual information with ultrasonic sensors, the robot approaches the door until an adequate distance is reached. Door traversing is then performed using sonar sensors. This paper describes the control architecture and the behaviors that have been implemented to obtain the door traversing behavior. Results and performance issues are explained. The experiments have been carried out with a B21 mobile robot.
ISSN:0378-4754
1872-7166
DOI:10.1016/S0378-4754(02)00027-7