Low level navigation system for a POMDP based on WiFi and ultrasound observations


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      		Views: (2000)   Date: (Publication Date: 27-30 June 2...)   Pages: ()

    • Author:  Ocana  M. Sotelo  M.A. Bergasa  L.M. Flores  R. Dept. of Electron.  Alcala Univ.  Madrid  Spain;  

    • Abstract:  Abstract In this paper we present the low level navigation system carried out in a partially observable Markov decision process (POMDP) based on WiFi and ultrasound observations. We use an H-shape model for the corridor, obtained from ultrasound range sensor. This system leads the robot to follow a corridor while it's detecting transitions for each door in autonomous mode. We demonstrate that this system is useful as low level navigator in a POMDP for indoor environments with a real robot. Some experimental results are shown. Finally, the conclusions and future works are presented.

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