Landmark-Based Autonomous Navigation in Sewerage Pipes
نویسندگان
چکیده
We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classi ed, where classi cation is allowed to be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot platform operating in a dry sewage pipe test network.
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تاریخ انتشار 1996