December 2012
Intermediate to advanced
192 pages
7h 37m
English
Content preview from Minimalist Mobile Robotics
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5.3 Strategic navigation
125
of the surface. Thus, the robot will stick more tightly to a dark
wall than to a light one.
5.3 Strategic navigation
Now that we can follow the pre-existing paths in the environ-
ment, namely walls and corridors, we can construct a more
global navigation scheme. To complete the system, the robot
must have some principled means of choosing between routes
when it reaches the juncture of two or more paths. Yet we do not
need a full-fledged map-based scheme that allows the robot to
take novel paths through the world. The task of our robot is to
simply collect cans and bring them back to some central location.
As lon
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