Accession Number:

ADA343712

Title:

MAGELLAN: An Integrated Adaptive Architecture for Mobile Robotics

Descriptive Note:

Final rept. 1 Mar 94-28 Feb 97

Corporate Author:

INSTITUTE FOR THE STUDY OF LEARNING ANDEXPERTISE PALO ALTO CA

Report Date:

1998-05-01

Pagination or Media Count:

21.0

Abstract:

In this paper we describe MAGELLAN, an integrated architecture for mobile robotics. The system represents its spatial knowledge in terms of a topological network that connects a set of distinct places, each represented by evidence grids that contain probabilistic descriptions of occupancy. MAGELLAN includes a module for place recognition that determines its initial location and when it has reached a goal, a module for continuous localization that maintains accurate estimates of the robots position, and a module for navigation that generates path plans and executes them using reactive behaviors. Experiments in two laboratories with different characteristics suggest that the system can operate robustly across a range of environments, including ones that involve dynamic changes.

Subject Categories:

  • Cybernetics
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE