Map-based navigation in Mobile robots - II. A review of map-learning and path-planing strategies - Archive ouverte HAL Access content directly
Journal Articles Journal of Cognitive Systems Research Year : 2003

Map-based navigation in Mobile robots - II. A review of map-learning and path-planing strategies

Abstract

This article reviews map-learning and path-planning strategies within the context of mapbased navigation in mobile robots. Concerning map-learning, it distinguishes metric maps from topological maps and describes procedures that help maintain the coherency of these maps. Concerning path-planning, it distinguishes continuous from discretized spaces and describes procedures applicable when the execution of a plan fails. It insists on the need for an integrated conception of such procedures, that must be tightly tailored to the specific robot that is used - notably to the capacities and limitations of its sensory-motor equipment- and to the specific environment that is experienced. A hierarchy of navigation strategies is outlined in the discussion, together with the sort of adaptive capacities each affords to cope with unexpected obstacles or dangers encountered on an animat or robot's way to its goal.
Fichier principal
Vignette du fichier
Meyer-Filliat_Navigation_Cartes.pdf (378.88 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00655472 , version 1 (29-12-2011)

Identifiers

Cite

Jean-Arcady Meyer, David Filliat. Map-based navigation in Mobile robots - II. A review of map-learning and path-planing strategies. Journal of Cognitive Systems Research, 2003, 4 (4), pp.283--317. ⟨10.1016/S1389-0417(03)00007-X⟩. ⟨hal-00655472⟩
219 View
1348 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More