The centre of area method as a basic mechanism for representation and navigation

Authors:
J. R. Álvarez Sánchez;J. Mira Mira;F. de la Paz López;J. M. Cuadra Troncoso
Affiliations:
Dpto. de Inteligencia Artificial, UNED, Spain;Dpto. de Inteligencia Artificial, UNED, Spain;Dpto. de Inteligencia Artificial, UNED, Spain;Dpto. de Inteligencia Artificial, UNED, Spain
Venue:
Robotics and Autonomous Systems
Year:
2007

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Abstract

Potential methods and all their gradient-based derivations are extensively used in autonomous robotics, primarily in association with reactive navigational strategies. In this article we introduce the fundamentals, formalisation and application of a brand-new method based on first-order moments called the ''centre of area method''. We also comment on its validity, at an individual level and in combination with other methods, in order to build a situated representation of the environment.