Abstract
The automation level and flexibility of an autonomous test vehicle was
increased by developing a teaching method that enables the vehicle to enter a
partially unknown office environment, to learn its path automatically and to
repeat it.The method was based on a coarse task description, consisting of
simple motion primitives described by a motion control language developed for
mobile robots.Natural landmarks were utilized as beacons to reduce the
accumulative error in the estimates of position and heading maintained by dead
reckoning navigation.The beacons were detected by ultrasonic sensors mounted
on the vehicle.Distance travelled was measured by optical encoders and heading
by a fibre optical gyroscope.Real-time obstacle avoidance was developed as
basic ability to manoeuvre in a coarsely known environment.When the perceived
obstacle was avoided, the vehicle was able to rejoin the original reference
path.Obstacles were detected by a laser scanner based on a time-of-flight
principle.The test results were encouraging and considered as a good base for
further research and development in the field of autonomous navigation in a
coarsely known environment.
Original language | English |
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Title of host publication | STeP 2000 : Millennium of Artificial Intelligence |
Subtitle of host publication | 'AI of today' : symposium on applications |
Editors | Heikki Hyötyniemi |
Place of Publication | Espoo |
Publisher | Finnish Artificial Intelligence Society FAIS |
Volume | 2 |
ISBN (Print) | 951-22-5128-0 |
Publication status | Published - 2000 |
MoE publication type | A4 Article in a conference publication |
Event | 9th Finnish Artificial Intelligence Conference : Millennium of Artificial Intelligence - Espoo, Finland Duration: 28 Aug 2000 → 30 Aug 2000 Conference number: 9 |
Publication series
Series | Publications of the Finnish Artificial Intelligence Society. Conference Series |
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Volume | 16 |
ISSN | 1238-4658 |
Conference
Conference | 9th Finnish Artificial Intelligence Conference |
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Abbreviated title | STeP 2000 |
Country/Territory | Finland |
City | Espoo |
Period | 28/08/00 → 30/08/00 |