applied sciences Article Cognitive Model of the Closed Environment of a Mobile Robot Based on Measurements Tomislav Pavlic 1,* , Krunoslav Kušec 1, Danijel Radoˇcaj 1, Alen Britvi´c 1, Marin Lukas 2, Vladimir Mili´c 2 and Mladen Crnekovi´c 2 1 Mechatronics Department, Bjelovar University of Applied Sciences, 43000 Bjelovar, Croatia;
[email protected] (K.K.);
[email protected] (D.R.);
[email protected] (A.B.) 2 Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, Croatia;
[email protected] (M.L.);
[email protected] (V.M.);
[email protected] (M.C.) * Correspondence:
[email protected]; Tel.: +385-43-241-204 Abstract: In recent years in mobile robotics, the focus has been on methods, in which the fusion of measurement data from various systems leads to models of the environment that are of a probabilistic type. The cognitive model of the environment is less accurate than the exact mathematical one, but it is unavoidable in the robot collaborative interaction with a human. The subject of the research proposed in this paper is the development of a model for learning and planning robot operations. The task of operations and mapping the unknown environment, similar to how humans do the same tasks in the same conditions has been explored. The learning process is based on a virtual dynamic model of a mobile robot, identical to a real mobile robot. The mobile robot’s motion with developed artificial neural networks and genetic algorithms is defined. The transfer method of obtained knowledge from simulated to a real system (Sim-To-Real; STR) is proposed.