Robot Cognition and Navigation An Experiment with Mobile Robots
In this book the author employs a cybernetic view of robot cognition and perception as he examines mobile robot simulations, realizations and experiments, and explains the related mathematical models and algorithms. Chapters are dedicated to map building,
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Advisory Board: Luigia Carlucci Aiello Franz Baader Wolfgang Bibel Leonard Bolc Craig Boutilier Ron Brachman Bruce G. Buchanan Anthony Cohn Artur d’Avila Garcez Luis Fariñas del Cerro Koichi Furukawa Georg Gottlob Patrick J. Hayes James A. Hendler Anthony Jameson Nick Jennings Aravind K. Joshi Hans Kamp Martin Kay Hiroaki Kitano Robert Kowalski Sarit Kraus Maurizio Lenzerini Hector Levesque John Lloyd
Alan Mackworth Mark Maybury Tom Mitchell Johanna D. Moore Stephen H. Muggleton Bernhard Nebel Sharon Oviatt Luis Pereira Lu Ruqian Stuart Russell Erik Sandewall Luc Steels Oliviero Stock Peter Stone Gerhard Strube Katia Sycara Milind Tambe Hidehiko Tanaka Sebastian Thrun Junichi Tsujii Kurt VanLehn Andrei Voronkov Toby Walsh Bonnie Webber
Srikanta Patnaik
Robot Cognition and Navigation An Experiment with Mobile Robots With 95 Figures, and 7 Tables
Author: Srikanta Patnaik Interscience Institute of Management & Technology Baranga - Khurda Road P.O. Kantabada Bhubaneswar – 752 054 India [email protected] Managing Editors: Prof. Dov M. Gabbay Augustus De Morgan Professor of Logic Department of Computer Science, King’s College London Strand, London WC2R 2LS, UK Prof. Dr. Jörg Siekmann Forschungsbereich Deduktions- und Multiagentensysteme, DFKI Stuhlsatzenweg 3, Geb. 43, 66123 Saarbrücken, Germany
Library of Congress Control Number: 2007928310 ACM Computing Classification: 1.2, 1.4, 1.5 ISSN 1611-2482 ISBN 978-3-540-23446-3 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com c Springer-Verlag Berlin Heidelberg 2007 Printed in Germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: by the author Production: Integra Software Services Pvt. Ltd., Puducherry, India Cover Design: KünkelLopka, Heidelberg Printed on acid-free paper
45/3180/Integra
5 4 3 2 1 0
To my wife
Priti and my sons
Sritam and Priyam
Preface
This book is meant for graduate and undergraduate students. It contains eighteen chapters, covering robot simulation, experiments and modelling of mobile robots. It starts with the cybernetic view of robot cognition and perception. Chapter 2 discusses map building, which is necessary for the robot to sense and represent its surrounding. C
