By Srikanta Patnaik
This e-book offers the idea that of cognition in a transparent, lucid and hugely complete type. It offers an in-depth research of mathematical versions and algorithms, and demonstrates their software with genuine lifestyles experiments.
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Extra resources for Robot Cognition and Navigation: An Experiment with Mobile Robots (Cognitive Technologies)
Proof: The algorithm never generates a node corresponding to a point in a free space, as the algorithm visits the boundaries of the obstacles only, but not any free space. Hence the proof is obvious. 3 An Illustration of Procedure Traverse Boundary This example illustrates how a robot moves around an obstacle by utilizing the procedure Traverse Boundary. Consider the rectangular obstacle and robot (encircled R) on the north side of the obstacle (shown in Fig. 4). Let the robot’s initial coordinates be x = 75, y = 48 (measured in 2D screen pixels).
Node status = 1 = BLACK; If node is an obstacle node. Node status = 2 = GRAY; If node is a mixed node. The four boundaries of a node’s square region are called N, E, S, and W for the north, east, south and west directions, respectively. The following predicates and functions are defined below, which will be used in the subsequent algorithm. (i) ADJ( B, I ) is true if and only if the quadrant I is adjacent to the boundary B of the node’s block. For instance, ADJ(W,NW) = TRUE and ADJ(W,NE) = FALSE.
Predicate relations used in the neighbor finding algorithms Algorithm GTEQUAL_ADJ_NEIGHBOR ( P,D ) Locate a neighbor of a node P in the horizontal or vertical direction D. If such a Node does not exist, then return NULL. 4 Neighbor-Finding Algorithms for the Quadtree 51 /* follow the reflected path to locate the neighbor */ return (if (not NULL (Q) and node_status(q)=GRAY) Then SON(Q,REFLECT (D,SONTYPE(P))) Else Q End. This algorithm will return a neighbor of greater or equal size. This is done by finding the common ancestor first.
Robot Cognition and Navigation: An Experiment with Mobile Robots (Cognitive Technologies) by Srikanta Patnaik