MAGELLAN: An Integrated Adaptive Architecture for Mobile Robotics
Final rept. 1 Mar 94-28 Feb 97
INSTITUTE FOR THE STUDY OF LEARNING ANDEXPERTISE PALO ALTO CA
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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.