A topological map based navigation system for mobile robotics
Tony Pipe, Brian Carse, Alan F. T. Winfield · 2002
We discuss two forms of cognitive map which are commonly used in mobile robotics when navigation requirements and environmental conditions make them appropriate; namely global metric, and topological. Whilst the former is a more powerful representational form which is suitable for building route plans in static environments, the latter is typically much less computationally intense and may be embedded directly into a behavior-based platform which can cope with local dynamics efficiently. We then focus on a method for extracting a topological map from a metric one, ie. a transformation from spatial non-procedural to symbolic procedural knowledge. Results from simulation experiments are presented.