fred martin reactive strategies - aarhus universitetocaprani/legolab/digitalcontrol... · figure 6:...
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Fred Martin Sequential strategies Reactive strategies Maja Mataric Deliberative approach Reactive approach Behavior-Based approach
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?
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Shaft encoders Sonic range finders Compass
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Perceptual zones for sonic range finders
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1 or 2 ?
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wall
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turn right
wall
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Landmark detection Landmarks are walls either on one side or on both sides: LW, RW, C. Wall detection: average compass bearing stable and repeatedly short readings on its side then confidence counter incremented confidence counter > threshold
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Landmark descriptor <T,C,L,P> T: LW, RW, C, I C: compass bearing L: length P: position (x,y)
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Map building
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Path planning
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Representation of space Topological map Cartesian map x
y
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?Lesson 10, Localization 1
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PilotSquare
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PilotSquare
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PilotSquare Systematic odometry errors Non-systematic errors
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Move in a straight line travel(20) Rotate on-the-spot rotate(90)
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PilotMonitor PilotRoute
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Monte Carlo localization