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This paper describes a method for optimization of waypoint selection for potential field navigation in autonomous robots. In the method presented here, a genetic algorithm (GA) is used for optimizing the potential field. The chromosome of each individual encodes parametrizations for the potential field generated by waypoints, obstacles, and goals. The(More)
Chapter Abstract The potential fields method for autonomous robot navigation consists essentially in the assignment of an attractive potential to the goal point and a repulsive potential to each of the obstacles in the environment. Several implementations of potential fields for autonomous robot navigation have been reported. The most simple implementation(More)
A hierarchical representation of objects is dynamically generated from the input of a virtual vision system. It is used to analyze a sequence of actions and extract behavior rules that can be utilized by the inference machine CLIPS. The vision system is assumed to provide simplified positional and shape information about visible 3D silhouettes in a frame(More)
This paper describes a localization system for a mobile robot equipped with sonars. The function of this lo-calization system is the estimation of the region where the robot is located. Due to errors in the movement of the robot and errors in the sensors that detect them, after several movements, the real position of the robot needs to be estimated. In this(More)