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

Published online by Cambridge University Press:  09 March 2009

M. Ocaña ,
L. M. Bergasa ,
M. A. Sotelo ,
R. Flores ,
D. F. Llorca  and
D. Schleicher
M. Ocaña*
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
L. M. Bergasa
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
M. A. Sotelo
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
R. Flores
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
D. F. Llorca
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
D. Schleicher
Affiliation:
Department of Electronics, Escuela Politécnica Superior, University of Alcalá, Campus Universitario s/n, 28871 Alcalá de Henares, Madrid, Spain.
*
*Corresponding author. E-mail: mocana@depeca.uah.es
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Summary

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.

Keywords

WiFi+Ultrasound robot navigation systemWiFi signal strength localization systemPartially Observable Markov Decision Process
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1049 - 1061
Copyright
Copyright © Cambridge University Press 2009

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