A new cognitive approach based on dynamic evolution of the grey hazy set

Representation of spatial information in unpredictable environments is restricted by uncertainty, complexity, and unreliability issues of mobile robots and their environments. In this context, a new cognitive approach based on the dynamic evolution of the grey hazy set will be proposed. The dynamic evolution of the grey hazy set is able to emulate human gradually cognitive experience about how to analyze the environment best step by step without needing accurate information. Subsets of the grey hazy set, including embryo set, growing set, mature set and evidence set, possess different but correlative qualitative expression of information on successively cognitive phase. Since it is easy to describe most indoor environments using line-segments, the proposed approach hierarchically utilizes line-segments to represent the environmental information. The example in corridor is provided to verify the effectiveness of the proposed approach in simulating human´s intelligence of environmental information expression and reasoning.