دورية أكاديمية
Sequential Localizing and Mapping: A Navigation Strategy via Enhanced Subsumption Architecture.
| العنوان: | Sequential Localizing and Mapping: A Navigation Strategy via Enhanced Subsumption Architecture. |
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| المؤلفون: | Othman KM; Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering Simon Fraser University, Surrey, BC V3T 0A3, Canada., Rad AB; Autonomous and Intelligent Systems Laboratory, School of Mechatronic Systems Engineering Simon Fraser University, Surrey, BC V3T 0A3, Canada. |
| المصدر: | Sensors (Basel, Switzerland) [Sensors (Basel)] 2020 Aug 26; Vol. 20 (17). Date of Electronic Publication: 2020 Aug 26. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: PubMed not MEDLINE; MEDLINE |
| أسماء مطبوعة: | Original Publication: Basel, Switzerland : MDPI, c2000- |
| مستخلص: | In this paper, we present a navigation strategy exclusively designed for social robots with limited sensors for applications in homes. The overall system integrates a reactive design based on subsumption architecture and a knowledge system with learning capabilities. The component of the system includes several modules, such as doorway detection and room localization via convolutional neural network (CNN), avoiding obstacles via reinforcement learning, passing the doorway via Canny edge's detection, building an abstract map called a Directional Semantic Topological Map (DST-Map) within the knowledge system, and other predefined layers within the subsumption architecture. The individual modules and the overall system are evaluated in a virtual environment using Webots simulator. |
| References: | IEEE Trans Pattern Anal Mach Intell. 1986 Jun;8(6):679-98. (PMID: 21869365) PLoS One. 2013;8(1):e54076. (PMID: 23365647) Sensors (Basel). 2020 Apr 27;20(9):. (PMID: 32349349) |
| فهرسة مساهمة: | Keywords: SLAM; reinforcement learning; robotics navigation; social robots; subsumption architecture |
| تواريخ الأحداث: | Date Created: 20200830 Date Completed: 20200903 Latest Revision: 20201001 |
| رمز التحديث: | 20231215 |
| مُعرف محوري في PubMed: | PMC7506774 |
| DOI: | 10.3390/s20174815 |
| PMID: | 32858928 |
| قاعدة البيانات: | MEDLINE |
Full Text Finder | تدمد: | 1424-8220 |
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| DOI: | 10.3390/s20174815 |