LiAS: A Reflexive Navigation Ar for an Intelligent Mobile Robot
Jurgen Vandorpe, Hendrik VAN BRUSSEL · 1996
In this paper, a complete hierarchical navigation ar- chitecture for applications in real industrial factory environments is presented. An off-line global geometrical planner uses a rough CAD-model of the working environment to plan consecutive via- points which the robot must Tollow. The navigation between the via-points is performed by a two-level on-line navigation algorithm. It consists of an on-line planning module combined with a low-level fuzzy logic avoidance behavior which enables the robot to move to the next goal by only specifying its coordinates in even completely a priori unknown and unstructured factory environments. The system includes a docking motion, based on a dynamic guidance technique. A perception fusion module com- bines information of three different sensors for accurate modeling of the world. The presented navigation method was tested With the mobile robot Leuven Intelligent Autonomous System (LiAS) and it proved to be useful in real world applications.