Hybrid navigation guidance for intelligent mobiles
Ricardo Vázquez-Martín, Eduardo Pérez, Cristina Urdiales, J.C. del Toro, Francisco Sandoval · 2006
This paper presents a hybrid layered architecture for intelligent transportation. The system relies on integrating odometry, DGPS and compass readings for localization and deliberative planning, whereas the path is tracked at low level by means of a CBR based reactive navigation algorithm capable of adapting to the vehicle kinematics and environment conditions through learning. The system has been successfully tested using a 4-wheeled outdoors robot Pioneer AT