Combining probabilistic map and dialog for robust life-long office navigation
Combining probabilistic map and dialog for robust life-long office navigation
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结合概率图和对话框，实现稳健的终身办公室导航
DOI：
10.1109/iros.1996.571056
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
T. Matsui
中科院分区：
文献类型：
--
作者：
H. Asoh;Y. Motomura;Isao Hara;S. Akaho;S. Hayamizu;T. Matsui
提出并评估了一种在办公环境中实现鲁棒终身导航的移动的机器人的设计。其核心思想是将概率地图和对话与人类相结合，以减少位置的不确定性。贝叶斯推理与概率自动机表示的地图，以减少查询的数量和评估规划路径的成功率。我们使用一个简单的贝叶斯网络连续节点的实验实现的设计，并证明了它的有效性，在真实的环境。
A design of mobile robot for robust life-long navigation in office environment is proposed and evaluated. The key idea is combining probabilistic map and dialog with humans for reducing the location uncertainty. Bayesian inference with the map represented by probabilistic automata is used in order to reduce the number of queries and to evaluate the success rate of planned paths. We experimentally implemented the design using a simple Bayesian network with continuous nodes and demonstrated its effectiveness in a real environment.