Junction detection and pathway selection

Alex N. Peck; Willie Y. Lim; Harry T. Breul

doi:10.1117/12.135173

14 February 1992 Junction detection and pathway selection

Alex N. Peck, Willie Y. Lim, Harry T. Breul

Proceedings Volume 1613, Mobile Robots VI; (1992) https://doi.org/10.1117/12.135173
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

The ability to detect junctions and make choices among the possible pathways is important for autonomous navigation. In our script-based navigation approach where a journey is specified as a script of high-level instructions, actions are frequently referenced to junctions, e.g., `turn left at the intersection.' In order for the robot to carry out these kind of instructions, it must be able (1) to detect an intersection (i.e., an intersection of pathways), (2) know that there are several possible pathways it can take, and (3) pick the pathway consistent with the high level instruction. In this paper we describe our implementation of the ability to detect junctions in an indoor environment, such as corners, T-junctions and intersections, using sonar. Our approach uses a combination of partial scan of the local environment and recognition of sonar signatures of certain features of the junctions. In the case where the environment is known, we use additional sensor information (such as compass bearings) to help recognize the specific junction. In general, once a junction is detected and its type known, the number of possible pathways can be deduced and the correct pathway selected. Then the appropriate behavior for negotiating the junction is activated.

Citation Download Citation

Alex N. Peck, Willie Y. Lim, and Harry T. Breul "Junction detection and pathway selection", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); https://doi.org/10.1117/12.135173

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