Landmark Detection in Mobile Robotics Using Fuzzy Temporal Rules

摘要

Detection of landmarks is essential in mobile robotics for navigation tasks like building topological maps or robot localization. Doors are one of the most common landmarks since they show the topological structure of indoor environments. In this paper, the novel paradigm of fuzzy temporal rules is used for detecting doors from the information of ultrasound sensors. This paradigm can be used both to model the necessary knowledge for detection and to consider the temporal variation of several sensor signals. Experimental results using a Nomad 200 mobile robot in a real environment produce 91% of doors were correctly detected, which show the reliability and robustness of the system.