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Advances towards behaviour-based indoor robotic exploration

215 p.

Idioma: English
Publicación: Servicio Editorial de la Universidad del País Vasco/Euskal Herriko Unibertsitatearen Argitalpen Zerbitzua 2014
Materia:
inteligencia artificial
informática
Acceso electrónico: http://hdl.handle.net/10810/12268
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spelling addi-10810-122682021-10-04T14:34:14Zcom_10810_12140Tesis Doctoralescom_10810_91INVESTIGACIÓNcol_10810_12144TD-Ingeniería y Arquitectura Advances towards behaviour-based indoor robotic exploration Jauregi Iztueta, Ekaitz Sierra Araujo, Basilio Lazkano Ortega, Elena Ciencia de la Computación e Inteligencia Artificial/Konputazio Zientzia eta Adimen Artifiziala inteligencia artificial informática 215 p. The main contributions of this research work remain in object recognition by computer vision, by one side, and in robot localisation and mapping by the other. The first contribution area of the research address object recognition in mobile robots. In this area, door handle recognition is of great importance, as it help the robot to identify doors in places where the camera is not able to view the whole door. In this research, a new two step algorithm is presented based on feature extraction that aimed at improving the extracted features to reduce the superfluous keypoints to be compared at the same time that it increased its efficiency by improving accuracy and reducing the computational time. Opposite to segmentation based paradigms, the feature extraction based two-step method can easily be generalized to other types of handles or even more, to other type of objects such as road signals. Experiments have shown very good accuracy when tested in real environments with different kind of door handles. With respect to the second contribution, a new technique to construct a topological map during the exploration phase a robot would perform on an unseen office-like environment is presented. Firstly a preliminary approach proposed to merge the Markovian localisation in a distributed system, which requires low storage and computational resources and is adequate to be applied in dynamic environments. In the same area, a second contribution to terrain inspection level behaviour based navigation concerned to the development of an automatic mapping method for acquiring the procedural topological map. The new approach is based on a typicality test called INCA to perform the so called loop-closing action. The method was integrated in a behaviour-based control architecture and tested in both, simulated and real robot/environment system. The developed system proved to be useful also for localisation purpose. 2014-05-06T16:13:24Z 2014-05-06T16:13:24Z 2011-09-05 2011-09-05 info:eu-repo/semantics/doctoralThesis 978-84-9860-611-9 http://hdl.handle.net/10810/12268 eng info:eu-repo/semantics/openAccess Servicio Editorial de la Universidad del País Vasco/Euskal Herriko Unibertsitatearen Argitalpen Zerbitzua
external_data_source Addi
institution Digital
collection Addi
language English
topic inteligencia artificial
informática
spellingShingle inteligencia artificial
informática
Jauregi Iztueta, Ekaitz
Advances towards behaviour-based indoor robotic exploration
description 215 p.
author_additional Sierra Araujo, Basilio
author Jauregi Iztueta, Ekaitz
title Advances towards behaviour-based indoor robotic exploration
title_short Advances towards behaviour-based indoor robotic exploration
title_full Advances towards behaviour-based indoor robotic exploration
title_fullStr Advances towards behaviour-based indoor robotic exploration
title_full_unstemmed Advances towards behaviour-based indoor robotic exploration
title_sort advances towards behaviour-based indoor robotic exploration
publisher Servicio Editorial de la Universidad del País Vasco/Euskal Herriko Unibertsitatearen Argitalpen Zerbitzua
publishDate 2014
url http://hdl.handle.net/10810/12268
_version_ 1735862673502896128

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