Memory-Based Navigation

Abstract

A memory-based system for mobile rob ot navigation is prese nted. Th e system is implemellt ed as a foll ow-midline module on a small robot moving autonomously a long the corridors of our Institute . The robot lea rns to es timate its position by comparing the visual input with imag es contained in its memory. Th e system memory is formed during a lea rning phase by en co ding a set of lab eled images. Encoding is base d on the e xtr act ion of loca l directio nal fi e ld s. During lea rning , th e robot explor es limited areas of the e nvironm ent . During performance th e robot moves along the corridors. Th e system shows a good g neralization capability. Th e robo ~ is able to navigate not only where lea rning was done , but also in unknown corridors with different illumination conditions. Key as p ec ts of this appr•. •ac h are a fl exible represe ntation of information and ind ependence fr om an expli c it use of geometrical re pr esentations .