A purely reactive navigation scheme for dynamic environments using Case-Based Reasoning

  • Authors:

  • C. Urdiales;E. J. Perez;J. Vázquez-Salceda;M. Sànchez-Marrè;F. Sandoval

  • Affiliations:

  • Departamento de Tecnología Electrónica, E.T.S.I, de Telecomunicación University of Málaga, Málaga, Spain 29071;Departamento de Tecnología Electrónica, E.T.S.I, de Telecomunicación University of Málaga, Málaga, Spain 29071;Departamento de Llenguatges i Sistemes Informàtics, Universitat Politècnica de Catalunya, Barcelona, Spain 08034;Departamento de Llenguatges i Sistemes Informàtics, Universitat Politècnica de Catalunya, Barcelona, Spain 08034;Departamento de Tecnología Electrónica, E.T.S.I, de Telecomunicación University of Málaga, Málaga, Spain 29071

  • Venue:
  • Autonomous Robots
  • Year:
  • 2006

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Abstract

This paper presents a new sonar based purely reactive navigation technique for mobile platforms. The method relies on Case-Based Reasoning to adapt itself to any robot and environment through learning, both by observation and self experience. Thus, unlike in other reactive techniques, kinematics or dynamics do not need to be explicitly taken into account. Also, learning from different sources allows combination of their advantages into a safe and smooth path to the goal. The method has been succesfully implemented on a Pioneer robot wielding 8 Polaroid sonar sensors.