ALICE
Topographic Exploration, Cartography and Adaptive Navigation
on a Simple Mobile Robot
TSRPC '94, Leeuwenhorst, The Netherlands, June 24-26, 1994
Pascal Lefèvre, Andreas Prüß & Uwe R. Zimmer - contact authors
A sub-symbolic, adaptive approach to the basic world-modelling,
navigation and exploration tasks of a mobile robot is discussed in
this paper. One of the main goals is to adapt a couple of internal
representations to a moderate structured and dynamic environment. The
main internal world model is a qualitative, topologic map, which is
continuously adapted to the actual environment. This adaptation is
based on passive light and touch sensors as well as on a internal
position calculated by dead-reckoning and by correlation to distinct
sensor situations. Due to the fact that