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One research project deals with robot
navigation. In our group we are dealing for more then 8 years with this
problem and analyse aspects of navigation within a behavior based
system architecture.
In its original sense the term navigation means to direct a ship to
its destination (from Latin navis
ship and agere to drive).
Navigation means to answer three questions:
Where am I?, Where are other places with
respect to me? and How do I
get to other places from here?
In the context of robot navigation, the robot's sensory input
must be used to
answer the above questions. Therefor the following definition for
navigation is also common:
A movable object has the task to move
from its current position to a
goal, on the base of fragmentary information and in consideration of
boundary conditions.
The
focus of our work is multilateral. On the one hand we deal with
ultra-sonic based robot navigation, e.g. by the use of evidence grids
for map building or we deal with vision based navigation for
self-localization. The image shows our mobile robot within a
openGL-simulation.
We use a B21-mobile robot which is equipped with a Pan-Tilt/vergence
camera unit, ultra sonic sensors and infra-red sensors.
In previous works we also used a LabMate robot.
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Please klick on the left image for a visualization of the
selflocalization problem: The robot performs movement commands
which are inexact. Accumulating such errors leads to
non-tolerable results. The non-transparent robot visualizes the
real position of the robot in 3D space and the transparent robot
visualizes the robots internal position.
Therefore we are interested in
algorithms which help the mobile robot to self-localize itself.
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The following links separate our research in different topics and
aspects:
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| Publications: | | 2001 | Geometric Computing with Clifford Algebras
Sommer, G.
Springer-Verlag, Heidelberg, 2001 | PDF , BibTeX |
| 1999 | The global algebraic frame of the perception-action cycle
Sommer, G.
In B. Jähne, H. Haussecker and P. Geissler, editors, Handbook of Computer Vision and Applications, pp. 221-264. Academic Press, San Diego, 1999 | PDF , BibTeX |
| 1999 | Towards real learning robots
Hailu, G.
Technical Report 9906, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, November 1999 | PDF, PS , BibTeX |
| 1998 | Dynamische Zellstrukturen - Theorie und Anwendung eines KNN-Modells
Bruske, J.
Dissertation, Institut für Informatik und Praktische Mathematik, Christian-Albrechts-Universität zu Kiel, 1998. | PDF , BibTeX |
| 1995 | Verhaltensbasierter Entwurf technischer visueller Systeme
Sommer, G.
Künstliche Intelligenz, 3:42-45, 1995 | PDF , BibTeX |
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