Topographic Exploration, Cartography and Adaptive Navigation on a Simple Mobile Robot

TSRPC '94, Leeuwenhorst, The Netherlands, June 24-26, 1994

Pascal Lefèvre, Andreas Prüß & Uwe R. Zimmer

A sub-symbolic, adaptive approach to the basic world-modelling, navigation and exploration tasks of a mobile robot is discussed in this paper. One of the main goals is to adapt a couple of internal representations to a moderate structured and dynamic environment. The main internal world model is a qualitative, topologic map, which is continuously adapted to the actual environment. This adaptation is based on passive light and touch sensors as well as on a internal position calculated by dead-reckoning and by correlation to distinct sensor situations. Due to the fact that ALICE is an embedded system with a continuous flow of sensor-samples (i.e. without the possibility to stop this data-flow), realtime aspects have to be handled. ALICE is implemented as a mobile platform with an on-board computer and as a simulation, where light distributions and position drifts are considered.

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