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Autonomous robot navigation using human spatial concepts
Author(s) -
Escrig M. Teresa,
Toledo Francisco
Publication year - 2000
Publication title -
international journal of intelligent systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.291
H-Index - 87
eISSN - 1098-111X
pISSN - 0884-8173
DOI - 10.1002/(sici)1098-111x(200003)15:3<165::aid-int3>3.0.co;2-x
Subject(s) - spatial intelligence , qualitative reasoning , computer science , constraint (computer aided design) , artificial intelligence , robot , orientation (vector space) , cognitive map , cardinal direction , human–computer interaction , cognition , mathematics , physics , astronomy , geometry , neuroscience , biology
With the aim of automatically reasoning with spatial aspects in a cognitive way, several qualitative models have been developed in recent years. However, there is no model to reason with several spatial aspects in a uniform way. Moreover, most of these models simplify spatial objects to points. In this paper we present the use of constraint logic programming instantiated to finite domains extended with constraint handling rules as a tool for successfully integrating the qualitative concepts of orientation, distance, and cardinal directions, using points as well as extended objects as a primitive of reasoning. The resulting model has been applied to build a demonstrator: a qualitative navigation simulator on the structured environment of our city. ©2000 John Wiley & Sons, Inc.