Automatic training method applied to a WiFi+ultrasound POMDP navigation system

Ocaña, Manuel; Bergasa, Luis M.; Sotelo, Miguel Ángel; Flores, Ramón F.; Llorca, David F.; Schleicher, David
Year: 2009
Type of Publication: Article
Keywords: WiFi and Ultrasound robot navigation system; WiFi signal strength localization system; Partially Observable Markov Decision Process
Journal: Robotica
Volume: 27
Number: 07
Pages: 1049-1061
Month: December
ISSN: 0263-5747
DOI: 10.1017/S0263574709005463
This paper presents an automatic training method based on the Baum?Welch algorithm (also known as EM algorithm) and a robust low-level controller. The method has been applied to the indoor autonomous navigation of a surveillance robot that utilizes a WiFi+Ultrasound Partially Observable Markov Decision Process (POMDP). This method uses a robust local navigation system to automatically provide some WiFi+Ultrasound maps. These maps could be employed within probabilistic global robot localization systems. These systems use a priori probabilistic map in order to estimate the global robot position. The method has been tested in a real environment using two commercial Pioneer 2AT robotic platforms in the premises of the Department of Electronics at the University of Alcalá. Some experimental results and conclusions are presented.
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