Prolog-Based World Models For Mobile Robot Navigation

Abstract

We describe a method of autonomous programming for mobile robots. A set of procedures are defined for a small class of features. The robot searches for these features, and determines their locations. The features and their locations comprise a world model. Errors in dead reckoning arise during navigation through the environment. These errors result in uncertainty in the feature locations. A Prolog-based world model is used to represent the feature locations, thereby determining the robot's path through its environment.