The University of Edinburgh -
Division of Informatics
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MSc Thesis #9681

Title:Behaviour Based Navigation on Mobile Robots: Initial Experiments
Date: 1996
Abstract:The work reported in this thesis is concerned with experimentation on wander, map-building and location recognition competences as a previous step towards full goal-oriented navigation. All the experimental data was gathered with a real mobile robot built under the Behaviour-Based AI approach. The approach taken for the navigation is the use of topological maps. The topological maps are constructed with the behaviours the robot performs whilst it explores the environment and they are hosted in Kohonen self-organising networks. The maps are used to experiment with the recognition of particular locations in the robot's environment. The behaviours the robot performs are implemented independently with three different sensory systems: Touch sensors (bumper and whiskers) and Infra-Red proximity Sensors (IRS). Experiments combining network representations (topological maps) constructed with behaviours performed with different sensors are carried out.

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