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Applications of an adaptive hierarchical mobile robot navigation system

Lee-Johnson, C. and Chand, Praneel and Carnegie, D.A. (2007) Applications of an adaptive hierarchical mobile robot navigation system. [Conference Proceedings]

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Abstract

A hierarchical robot navigation system has been developed and implemented on a range of real and simulated mobile robots for two independent research applications. One application is a study on emotion-modulated navigation. The other is an investigation of heterogeneous multi-robot navigation. The navigation framework shared by the various implementations is described. A multi-layered architecture is employed that incorporates reactive control, deliberative path planning and exploration capabilities. The reactive controller utilises a two-stage optimisation in directional and velocity space. Path planning employs a probabilistic A* algorithm applied to a dynamically-updated occupancy grid. Implementation differences between applications include the path planning cost function, and certain aspects of the reactive control system that are affected by different robot shapes and drive systems. Some key results from both applications are presented, including experiments performed in simulation and in the real world.

Item Type: Conference Proceedings
Additional Information: B ranked proceeding based on the ERA Conference 2010 Ranking List.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
Depositing User: Praneel Chand
Date Deposited: 01 May 2013 10:29
Last Modified: 01 May 2013 10:29
URI: http://repository.usp.ac.fj/id/eprint/5679
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