Case-Based Reasoning in Robot Indoor Navigation

Authors:
Alessandro Micarelli;Stefano Panzieri;Giuseppe Sansonetti
Affiliations:
Department of Computer Science and Automation, Roma Tre University, Via della Vasca Navale, 79, 00146 Rome, Italy;Department of Computer Science and Automation, Roma Tre University, Via della Vasca Navale, 79, 00146 Rome, Italy;Department of Computer Science and Automation, Roma Tre University, Via della Vasca Navale, 79, 00146 Rome, Italy
Venue:
ICCBR '07 Proceedings of the 7th international conference on Case-Based Reasoning: Case-Based Reasoning Research and Development
Year:
2007

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Abstract

In this paper, we advance a novel approach to the problem of autonomous robot navigation. The environment is a complex indoor scene with very little a priori knowledge, and the navigation task is expressed in terms of natural language directives referring to natural features of the environment itself. The system is able to analyze digital images obtained by applying a sensor fusion algorithm to ultrasonic sensor readings. Such images are classified in different categories using a case-based approach. The architecture we propose relies on fuzzy theory for the construction of digital images, and wavelet functions for their representation and analysis.