Abstract

SAAVEDRA ALCOBA, Marcelo  and  ENRIQUEZ PAZ, Luigi Pedro. Diseño de un algoritmo de búsqueda informada mediante el simulador robótico stage. Fides Et Ratio [online]. 2015, vol.10, n.10, pp.39-59. ISSN 2071-081X.

A novel methodology for robots executing informed object search is proposed. The methodology is based mainly on a heuristic spiral search algorithm and a Bayesian framework that uses convolutions between observation likelihoods and spatial relation masks for estimating the probability map of the object being search for. The spatial relationships between objects can be defined as weighted sums of basic spatial relations using co-occurrence matrices as weights. The methodology is validated in an office environment in which four object classes ("monitor," "keyboard," "system unit," and "router") and four basic spatial relations ("very near," "near," far," and "very far") are considered. A total of 500 experiments comparing five object search algorithms were realized by using the robotics simulator Stage. The results show that using the proposed methodology has a higher detection rate of 70%, compared to other methods such as: Method spiral search, method using particles informed, among others.

Keywords : Informed search; spiral search; mobile robot; artificial intelligence.

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