1Using Physics-Like Interaction Law to perform Active Environment Recognition in Mobile Robotics
Aurélien Hazan, F. Davesne, V. Vigneron, H. Maaref · 2005
Abstract- In this article, we give some insights of a novel method for active environment recognition in mobile robotics. The basic idea consists on utilizing a Physics-like interac-tion law to x a relation between sensors and effectors val-ues at any time. Our main assumption is that the trajectory of the robot in the phase space, which depends uniquely on its environment-when the law and the nature of the robot are xed- may discriminate environments better than classi-cal Data Analysis Approaches (DAA). In order to test our as-sumption, we choose to model an analogical robot which light sensor amplitudes and wheels speed are coupled in a set of differential equations. As a result, we show that our Interac-tionist Approach (IA) is tractable and perform well for dis-criminating simple environments, comparing to a data analy-sis (DA) strategy.