engleski

Cognitive Model of Mobile Robot Workspace

This paper intends to answer the question about minimal set of topologic marks and their properties that are sufficient for independent path planning of a robot from a start to a goal position. The answer is supplied by a space model classified as a cognitive space model because it reminds of a human’s space model. The cognitive space model can be divided into parts called districts. At any moment a mobile robot is able to define what it sees from the current position. This definition consists of identification and properties of objects and events. In addition, global space properties and events are calculated. The object that is estimated as the closest object to a robot has a special status because the danger of collision with the closest obstacle is the most probable. Any visible object/obstacle can be chosen as a focus object thus being given special attention. During the motion the goal is continuously monitored and its status is updated.

mobile robot; space perception; workspace cognitive model

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