The Kalman filter: an introduction to concepts
Autonomous robot vehicles
Computational principles of mobile robotics
Computational principles of mobile robotics
An Behavior-based Robotics
Encyclopedia of Artificial Intelligence
Encyclopedia of Artificial Intelligence
Robot Motion Planning
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Genetic Algorithms for the Travelling Salesman Problem: A Review of Representations and Operators
Artificial Intelligence Review
Interaction and Intelligent Behavior
Interaction and Intelligent Behavior
Limitations of neural networks for solving traveling salesman problems
IEEE Transactions on Neural Networks
Distributed intelligent navigation architecture for robots
AI Communications - Recommender Systems
Cooperative behaviour-based complete exploration for an autonomous robot
AI Communications
Applied Bionics and Biomechanics - Assistive and Rehabilitation Robotics II
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This chapter focuses on autonomous navigation for mobile robots. We propose a hybrid layered architecture, which is used to navigate in totally or partially explored environments using sonar sensors. Our architecture relies on a hierarchical representation of the environment, which has both a metric and a topological level, which is based on the metric level. High level planning layers work at the topological level deliberatively, while low level navigation layers operate at the metric level reactively. The main advantage of the proposed scheme is that it can operate in both known and unknown environments rapidly and efficiently.