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Cognitive Approach to Robot Spatial Mapping

Cognitive Approach to Robot Spatial Mapping. Ghislain Fouodji Tasse Supervisor: Dr. Karen Bradshaw Computer Science Department Rhodes University 04 August 2009. concepts. Robot Spatial Perception: it is the way the robot perceives it environment and interacts with it.

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Cognitive Approach to Robot Spatial Mapping

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  1. Cognitive Approach to Robot Spatial Mapping Ghislain Fouodji Tasse Supervisor: Dr. Karen Bradshaw Computer Science Department Rhodes University 04 August 2009

  2. concepts • Robot Spatial Perception: it is the way the robot perceives it environment and interacts with it. • Cognitive mapping: different AI approaches that can be implemented to built self mapping intelligence into a robot. • Cognitive Robot Mapping: cognitive mapping theories are interpreted and converted into algorithms that can be implemented in robot, with respect to its perception of the environment.

  3. Robot Spatial Perception • Metric map: is the capture of the geometric properties of an environment. • Topological map: is the capture of qualitative and relational information of the objects in an environment.

  4. Robot Spatial Perception • Hybrid map: it contains both metric and topological information of the environment.

  5. Possible diffficulties • Odometry Errors: these errors result from the limitation of robot sensors. • SLAM: Simultaneous Localization and Mapping problem. • Dynamic Environments: How does the robot cope with the change in the environment.

  6. Cognitive mapping • Vision Based Mapping: this mapping focuses on the visual information the robot gets from the environment. • Shaped Based Mapping: this mapping focuses on the geometric information the robot gets from the environment.

  7. Cognitive Robot Mapping • LSR: Local Space Representation is the representation of the space the robot is currently experiencing.

  8. Cognitive Robot Mapping • GSR: Global Space Representation is the combination of independent local space representation.

  9. Cognitive Robot Mapping • Grid Algorithms: treats the environment as an unstructured array with composed cells that are independently either occupied or unoccupied.

  10. Tools • Robot: Lego Mindstroms NXT (2 motors and 4 ultrasonic sensors) • Bluetooth Connection • Programming Languages: C/C++ • IDE: Visual C++

  11. Extentions • This research is a first step and can be extended to achieve complete and optimal self navigation with free collision in the real world by a robot. • The concept of cognition could be extended to other area in robotics such as natural language processing. • This project can be extended from an indoor environment mapping to an outdoor environment mapping.

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