Navigation By Path Remembering

Jonathan Connell

doi:10.1117/12.949117

10 March 1989 Navigation By Path Remembering

Jonathan Connell

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949117
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

We present a scheme for navigation that does not rely on a detailed world map or a precise inertial guidance system. Our approach is based on a multiple-agent control system in which there are a variety of local navigation behaviors that run in parallel. These behaviors arbitrate among themselves to select the most applicable action in any given situation. Meanwhile, there is another process which watches for "choice points" -- places where it is possible to travel in one of several distinct directions -- and simply records the qualitative direction actually travelled at each point. Our representation of the robot's path is then a sequence of these choices which can be replayed in reverse to get the robot back to its starting location. An important point is that instead of attempting to build a complete internal map, we use the world as its own representation. Another feature is that the robot does not even care which algorithm(s) are employed to get it from one point to the next. The individual agents communicate through the world to the path rememberer by turning the robot.

Citation Download Citation

Jonathan Connell "Navigation By Path Remembering", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949117

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available