A Distributed Model For Mobile Robot Environment Learning And Navigation

Download or read book A Distributed Model for Mobile Robot Environment-learning and Navigation written by Maja J. Mataric and published by . This book was released on 1990 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: a collection of reflex-like rules resulting in emergent boundary-tracing. 2) Landmark detection: dynamically extracts landmarks from the robot's motion. 3) Map learning: constructs a distributed map of landmarks. The parallel implementation allows for localization in constant time. {\it Spreading of activation} computes both topological and physical shortest paths in linear time. The main issues addressed are: distributed, procedural, and qualitative representation and computation, emergent behaviors, dynamic landmarks, minimized communication.