A graph-based exploration strategy of indoor environments by an autonomous mobile robot
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Journal Volume
2
Pages
1262-1268
Date Issued
1998-05
Date
1998-05
Author(s)
Hwang, Liang-Sheng
Abstract
Presents a provably complete strategy for indoor environment exploration by an autonomous mobile robot. Without prior knowledge about the environment, the strategy guarantees the construction of a grid-based map, of the entire reachable area within a bounded region. Multiple map representations are utilized including a topological grid map for guiding the exploration process, a modified occupancy grid for fusing data from multiple range sensors, and a hierarchy of grids for real-Time navigation. Experiments using a Nomad 200TM robot have shown accurate map construction while navigating at a steady speed of 0.2m/sec. © 1998 IEEE.
Other Subjects
Graphic methods; Mobile robots; Robotics; Computer graphics; Graph theory; Motion planning; Sensor data fusion; Autonomous Mobile Robot; Exploration process; Exploration strategies; Indoor environment; Map constructions; Map representations; Prior knowledge; Real-time navigation; Navigation; Mobile robots; Graph based exploration strategy
Type
journal article
File(s)![Thumbnail Image]()
Loading...
Name
00677276.pdf
Size
639.01 KB
Format
Adobe PDF
Checksum
(MD5):80a021bf28a0b189488b4c603ab28c8b