Environment learning using a distributed representation

Abstract

A method for robust mobile robot navigation and environmental learning is presented. It was implemented and tested on a physical robot. The method consists of a collection of simple, incrementally designed robot behaviors. The behaviors receive sonar and compass data which they use to dynamically detect landmarks and construct a distributed map of the environment. The map is represented as a graph in which each node is a collection of augmented finite state machines functioning in parallel. The distributed nature of the map allows for localization in constant time. The method utilizes a modified spreading of activation scheme to accomplish robust linear-time path planning. It is capable of generating both topologically and physically shortest paths to the goal. The method uses local information to achieve the global task without having to replan if the robot becomes lost or strays off the desired path.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>