Qualitative and quantitative representations of locomotion and their application in robot navigation

Qualitative and quantitative representations of space in general and motion in particular have their typical fields of application which are uni-fied in an autonomously moving robot interact-ing with human beings. Therefore it is neces-sary to make some considerations on both ap-proaches when dealing with such a robot. This paper presents quantitative and qualitative rep-resentations of locomotion and algorithms to deal with them. This work was applied to the navigation of a semi-autonomous wheel-chair along routes in networks of corridors.