Goal memory: A pilot study

Abstract

SLAM methods vary significantly, which can make direct comparison challenging. However there is one performance indicator which can be universally applied to all these methods - can they be used to perform useful tasks such as goal orientated navigation? Navigating to goals is one of the fundamental purposes of any mapping and navigation system, whether it is one used by a rat foraging for food, or by a delivery robot in an office environment. The type and nature of the goal may vary between contexts, but the core problem usually remains the same; how can the animal or robot efficiently get from place A to place B. This chapter describes the implementation of a method for goal navigation using the RatSLAM system and a cell structure known as goal memory. © 2008 Springer-Verlag Berlin Heidelberg.