Using a Mobile Robot to Test a Theory of Cognitive Mapping.

  • This paper describes using a mobile robot, equipped with some sonar sensors and an odometer, to test navigation through the use of a cognitive map. The robot explores an office environment, computes a cognitive map, which is a network of ASRs [36, 35], and attempts to find its way home. Ten trials were conducted and the robot found its way home each time. From four random positions in two trials, the robot estimated the home position relative to its current position reasonably accurately. Our robot does not solve the simultaneous localization and mapping problem and the map computed is fuzzy and inaccurate with much of the details missing. In each homeward journey, it computes a new cognitive map of the same part of the environment, as seen from the perspective of the homeward journey. We show how the robot uses distance information from both maps to find its way home.

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Author:W.K. Yeap, C.K. Wong, Jochen SchmidtORCiD
Parent Title (English):Robotics and Cognitive Approaches to Spatial Mapping, Springer Tracts in Advanced Robotics
Place of publication:Berlin
Document Type:Part of a Book
Publication Year:2008
Tag:Cognitive Mapping; Mobile Robot; Simultaneous Localization 
faculties / departments:Fakultät für Informatik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke