AN AUTONOMOUS HYBRID ROBOT SYSTEM TO NAVIGATE THROUGH UNKNOWN MAZE ENVIRONMENTS

摘要

This paper describes a fully complete autonomous hybrid robot system, named YAM (Yet Another Mouse), that is able to navigate through an unknown maze environment. YAM effectively tackles the problem of how to represent the environment using its sensor data to produce probability maps of the walls and beacons. Besides that, it is capable of computing long-term path plans using an adapted breadth-first search algorithm. It also shows how it is possible to model the actual motors behavior as a reactive task, using artificially created virtual short-term goals. We give real contest results, showing how YAM behaved on the "Ciber-Rato" robotics competition.