Page 133 - Designing Autonomous Mobile Robots : Inside the Mindo f an Intellegent Machine
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Chapter 7
Obstacle
Danger levels
Lateral Uncertainty
Robot path
Obstacle
Figure 7.6. Topological map of force fields between obstacles
We will then begin by telling our robot where we would like it to go, and what we
would like it to do. This is no different than what we might do for a new human worker,
except that our means of communicating this information will be a bit different.
We will also help the robot with the selection of features it should use to navigate. We
know which objects in its environment are permanent and which are not, so a little
help from us can greatly improve the robot’s performance. If we find a method that
allows the robot to use its sensors to add navigation features of its own, our architec-
ture should make it possible to add this capability at a later time.
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