Navigation
• Mobility & intelligence seem – have evolved together.
• Immobile creatures have little use for intelligence, while it is intelligence that puts mobility to effective use.
• Let’ investigate the nature of mobility in terms of how robots navigate through world & manipulate objects.
• Like Perception (Vision & Speech recognition), action is something humans do fairly & easily.
• Many classic AI planning problems involve navigation.
• The SCRIPTS system, for e.g., gave high-level instructions to a robot moving through a set of rooms, carrying objects from one to another.
• Plans to solve goals like
“move box A into room X”
Contained operators like MOVE (Y, X), i.e.,
“move from room Y to room X”.
Navigational problems are surprisingly complex. For e.g., suppose that there are obstacles in the robot’s path, as shown in figure.
Problem of path planning is to plot a continuous set of points connecting the initial position of robot to its desired position.