A hybrid architecture for autonomous navigation using a CBR reactive layer

IEEE/WIC International Conference on Intelligent Agent Technology (IAT'03) p. 225
A hybrid architecture for autonomous navigation using a CBR reactive layer
C. Urdiales, University of Málaga
E.J. Pérez, University of Málaga
F. Sandoval, University of Málaga
J. Vázquez-Salceda, Utrecht University

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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/IAT.2003.1241072
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Abstract
This paper presents a hybrid architecture for autonomous robot navigation. It includes a deliberative layer that hierarchically extracts a global path from a geometrical-topological model of the environment. This path is decomposed into a set of partial goals. Then, a new case-based reasoning based reactive layer capable of learning new local navigation strategies moves from each partial goal to the next. The architecture has been successfully tested in real dynamic environments.
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Citation: C. Urdiales, E.J. Pérez, F. Sandoval, J. Vázquez-Salceda, "A hybrid architecture for autonomous navigation using a CBR reactive layer," iat, p. 225, IEEE/WIC International Conference on Intelligent Agent Technology (IAT'03), 2003

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