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.
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Cristina Urdiales is a Lecturer at the Department of Tecnología Electrónica (DTE) of the University of Málaga (UMA). She received a MSc degree in Telecommunication Engineering at the Universidad Politécnica de Madrid (UPM) and her Ph.D. degree at University of Málaga (UMA). Her research is focused on robotics and computer vision.
E.J. Pérez was born in Barcelona, Spain, in 1974. He received his title of Telecommunication Engineering from the University of Málaga, Spain, in 1999. During 1999 he worked in a research project under a grant by the Spanish CYCIT. From 2000 to the present day he has worked as Assistant Professor in the Department of Tecnología Electrónica of the University of Málaga. His research is focused on robotics and artificial vision.
Javier Vázquez-Salceda is an Associate Researcher of the Artificial Intelligence Section of the Software Department (LSI), at the Technical University of Catalonia (UPC). Javier obtained an MSc degree in Computer Science at UPC. After his master studies he became research assistant in the KEMLg Group at UPC. In 2003 he presented his Ph.D. dissertation (with honours), which has been awarded with the 2003 ECCAI Artificial Intelligence Dissertation Award. The dissertation has been also recently published as a book by Birkhauser-Verlag. From 2003 to 2005 he was researcher in the Intelligent Systems Group at Utrecht University. Currently he is again member of the KEMLg Group at UPC. His research is focused on theoretical and applied issues of Normative Systems, software and physical agents' autonomy and social control, especially in distributed applications for complex domains such as eCommerce or Medicine.
Miquel Sànchez-Marrè (Barcelona, 1964) received a Ph.D. in Computer Science in 1996 from the Technical University of Catalonia (UPC). He is Associate Professor in the Computer Software Department (LSI) of the UPC since 1990 (tenure 1996). He was the head of the Artificial Intelligence section of LSI (1997–2000). He is a pioneer member of International Environmental Modelling and Software Society (IEMSS) and a board member of IEMSS also, since 2000. He is a member of the Editorial Board of International Journal of Applied Intelligence, since October 2001. Since October 2004 he is Associate Editor of Environmental Modelling and Software journal. His main research topics are case-based reasoning, machine learning, knowledge acquisition and data mining, knowledge engineering, intelligent decision-support systems, and integrated AI architectures. He has an special interest on the application of AI techniques to Environmental Decision Support Systems.
Francisco Sandoval was born in Spain in 1947. He received the title of Telecommunication Engineering and Ph.D. degree from the Technical University of Madrid, Spain, in 1972 and 1980, respectively. From 1972 to 1989 he was engaged in teaching and research in the fields of opto-electronics and integrated circuits in the Universidad Politécnica de Madrid (UPM) as an Assistant Professor and a Lecturer successively. In 1990 he joined the University of Málaga as Full Professor in the Department of Tecnología Electrónica. He is currently involved in autonomous systems and foveal vision, application of Artificial Neural Networks to Energy Management Systems, and in Broad Band and Multimedia Communication.
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Urdiales, C., Perez, E.J., Vázquez-Salceda, J. et al. A purely reactive navigation scheme for dynamic environments using Case-Based Reasoning. Auton Robot 21, 65–78 (2006). https://doi.org/10.1007/s10514-006-7231-8
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DOI: https://doi.org/10.1007/s10514-006-7231-8