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Proceedings Paper

Space-Time Modeling Using Environmental Constraints in a Mo-bile Robot System
Author(s): Marc G. Slack
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Paper Abstract

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

Paper Details

Date Published: 1 March 1990
PDF: 9 pages
Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); doi: 10.1117/12.970006
Show Author Affiliations
Marc G. Slack, California Institute of Technology, M.S. (United States)


Published in SPIE Proceedings Vol. 1198:
Sensor Fusion II: Human and Machine Strategies
Paul S. Schenker, Editor(s)

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