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Space-time modeling using environmental constraints in a mobile robot systemGrid-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.
Document ID
19910036507
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Slack, Marc G.
(JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Accession Number
91A21130
Distribution Limits
Public
Copyright
Other

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