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5.
Navigation
5.2 Tactical navigation
The robot's tactical navigation system is similar to the
exploratory groping of the arm in that both follow along a
surface using only local cues. However, instead of a collection
of special purpose one bit sensors, the navigation system has a
much richer source of information, namely the two rings of
body IRs. This leads to a control structure which more closely
resembles the "space tables" of the vision system than the
melange of simple behaviors employed by the manipulation
system. Yet, we do not simply model each possible situation and
then tell the robot the appropriate action to take in each case ...