Integrating fuzzy topological maps and fuzzy geometric maps for behavior-based robots

ior-based robots, planning is necessary to elaborate abstract plans that resolve complex navigational tasks. Usually maps of the environment are used to plan the robot motion and to resolve the navigational tasks. Two types of maps have been mainly used: metric and topological maps. Both types present advantages and weakness so that several integration approaches have been proposed in literature. However, in many approaches the integration is conducted to build a global representation model, and the planning and navigational techniques have not been fitted to profit from both kinds of information. We propose the integration of topological and metric models into a hybrid deliberative-reactive architecture through a path planning algorithm based on A erarchical map with two levels of abstraction. The hierarchical map contains the required information to take advantage of both kinds of modeling. On one hand, the topological model is based on a fuzzy perceptual model that allows the robot ...

• Type: Journal
• Year: 2002
• Where: IJIS
• Authors: Eugenio Aguirre, Antonio González
• Keywords: Complex Navigational Tasks, IJIS 2002, Navigational Tasks, Robot