Balakrishnan, Karthik and Honavar, Vasant (1997) Spatial Memory Structures for Sensor-Guided Robot Navigation. Technical Report TR97-01, Department of Computer Science, Iowa State University.
Although evolutionary algorithms offer an attractive and versatile
approach to the automated design of behavior and control structures
for mobile robots, they cannot anticipate the detailed structure of
specific environments that the robot might have to deal with.
Robots must thus possess mechanisms to adapt to the environments
they encounter. In particular, mobile robots need structures for
building and using spatial maps to aid in the successful exploration
and navigation of a-priori unknown environments. This paper proposes
a biologically inspired computational model for the acquisition and
use of spatial memory structures for mobile robot navigation.
Preliminary experimental results indicate that the proposed mechanisms
can be effectively exploited by evolution in the design of
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