The Implementation Of Yeap And Jefferies' Cognitive Map Computing Theory In 2D Environment

In this paper a cognitive map computing theory, which is proposed by Yeap and Jefferies in Artificial Intelligence 1999, is implemented in 2D environment. To generate the input of the computing theory — 2 1/2D sketch, which simulates the vision of human, the paper successfully turns the disperse scan result of the robot's surrounding environment into the successive and enclosed 2 1/2D sketch. Furthermore, a map data pre-processing method is designed to make this 2 1/2D sketch generating progress highly efficient. Then each module of the computing theory is implemented, and the way in which the extent of fuzzy ASR is computed is re-designed. To test the whole algorithm in 2D environments, robot manual control system is also designed, and integrated with other modules. As shown in the experiments, Yeap and Jefferies' cognitive map computing theory is implemented in the 2D environment successfully.