1 November 1992 Using qualitative maps to direct reactive robots
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Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131704
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important, therefore, that the robot be able to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Randolph S. Bertin, Thomas W. Pendleton, "Using qualitative maps to direct reactive robots", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131704; https://doi.org/10.1117/12.131704
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