{"title":"Landmark-based autonomous navigation in sewerage pipes","authors":"Joachim Hertzberg, Frank Kirchner","doi":"10.1109/EURBOT.1996.551883","DOIUrl":null,"url":null,"abstract":"We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classified, where classification is allowed do be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot platform operating in a dry sewage pipe test network.","PeriodicalId":136786,"journal":{"name":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"91","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURBOT.1996.551883","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 91
Abstract
We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classified, where classification is allowed do be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot platform operating in a dry sewage pipe test network.
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