Representational World Modeling
Abstract
The preceding article of this two part series (TRP, Winter 1996, p. 15) examined a very basic reactive control scheme that could be used to intelligently direct the motions of the prototype security robot ROBART I operating in very structured and relatively obstacle-free surroundings. The reactive control approach couples real-time sensor information to motor response without the use of intervening symbolic representations that model the environment. The robot could move as required to any given room simply by maintaining a relative awareness of the room inter-relationships along the hallway, but had no absolute sense of its own location in the X-Y floorplan. In addition, reflexive avoidance of potential obstacles could easily interfere with effective execution of the navigation algorithm, sometimes with non-recoverable results. In this issue we review a simplistic representational world modeling approach originally employed on ROBART II. This much improved second-generation robot was equipped with 132 external sensors, to include a 360-degree navigational sonar array for initial map generation and position location, as well as a collision avoidance sonar array.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 1996
- Accession Number
- ADA506192
Entities
People
- Hobart R. Everett
Organizations
- Naval Information Warfare Systems Command