Images of the Twenty-First Century - Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 2

Maki K. Habib, Shin'ichi Yuta

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

An intelligent navigation system for an autonomous mobile robot using hierarchical world map representation has been developed and implemented. This navigation system can successfully negotiate a robot's environment consisting of a network of buildings connected through common bridges. The experimental results and analysis of the implemented navigation system in a real environment are described. The developed navigation system comprises: (1) world model construction with three levels of hierarchy (building, corridor, and room); (2) two efficient techniques to plan a collision-free path to a specified goal within a known environment (in-room planning and corridor and building planning); and (3) control of the robot while executing the chosen path after abstracting the geometrical information along it from the related world model. The proposed navigation system has been demonstrated for application in a real environment that consists of a network of buildings. A real mobile robot, Yamabico.M (Level-12) that has been developed by the authors was used.

Original languageEnglish
Pages613-622
Number of pages10
Publication statusPublished - 1989 Dec 1
Event15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1 - Philadelphia, PA, USA
Duration: 1989 Nov 61989 Nov 10

Other

Other15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1
CityPhiladelphia, PA, USA
Period89/11/689/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Habib, M. K., & Yuta, S. (1989). Images of the Twenty-First Century - Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 2. 613-622. Paper presented at 15th Annual Conference of IEEE Industrial Electronics Society - IECON '89. Part 1, Philadelphia, PA, USA, .