Navigation and World Modelling for a Mobile Robot: a Progress Report
Factory robots function in highly engineered environments and thus can be made to function with very limited sensing and intelligence. The introduction of robots into such unconstrained environments such as a construction site or a mine requires a radically different approach. Such systems must sense and model their environment and base their actions on such a model. They must also apply intelligence so that they do not simply repeat actions, but accomplish goals.
This paper presents recent progress towards the development of mobile robots which intelligently accomplish goal oriented behavior. A primary contribution is the introduction of an architecture which permits a robotic system to apply knowledge to the coordination of action and perception. Hierarchical architectures are presented for both perception and navigation.
A discussion of recent developments in navigation and perception are presented. Among the most important points is the presentation of a general purpose vehicle-level control protocol. This protocol defines a virtual vehicle which can permit navigation systems to be easily transported between vehicles. The problems of estimating the uncertainty in a vehicle’s estimated position, and recent advances in composite modeling are also discussed.
KeywordsMobile Robot Composite Model Vehicle Movement Wheel Slippage Position Uncertainty
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