A hybrid architecture for autonomous navigation using a CBR reactive layer

Authors:
C. Urdiales;E. J. Pérez;F. Sandoval;J. Vázquez-Salceda
Affiliations:
-;-;-;-
Venue:
IAT '03 Proceedings of the IEEE/WIC International Conference on Intelligent Agent Technology
Year:
2003

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Abstract

This paper presents a hybrid architecture for autonomous robotnavigation. It includes a deliberative layer that hierarchicallyextracts a global path from ageometrical-topological model of theenvironment. This path is decomposed into a set of partial goals.Then, anew case-based reasoning based reactive layer capable oflearning new local navigation strategies moves from each partialgoal to the next. The architecture has been successfully tested inreal dynamic environments.