Global spatial modelling based on dynamics identification according to discriminated static sensations

Proc. of the Intl. Symposium on Underwater Technology 2000, Tokyo, Japan, May 23-26 2000, IEEE Catalog #00EX418

Emilia Barakova & Uwe R. Zimmer

This article focuses on the problem of identifying and discriminating trajectories (as sequences of situations connected by transition-dynamics) in a mobile robot setup. The continuous time dynamics are segmented and scaled by transition sensations between significantly different static situations. The complementary information out of static attractors and dynamical transitions is fused in a canonical way and under hard realtime constraints. Based on the generated and continuously adapted trajectory models, a global topological model is maintained and attributed suiting the needs of robust qualitative navigation tasks. Neither a global position nor any other global metrical description is generated or employed by this approach, thus it is not meant to fulfill global precision requirements. The presented results describe physical experiments with autonomous robots in unprepared environments.

Keywords: mobile robots, world modeling, dynamical environments, exploration, self-localization, self-organization

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