Dept. of Comput. Sci. & Inf. Eng., National Taiwan Univ.Hwang, Liang-ShengLiang-ShengHwangYUNG-JEN HSU2007-04-192018-07-052007-04-192018-07-051998-0510504729http://ntur.lib.ntu.edu.tw//handle/246246/2007041910021809https://www.scopus.com/inward/record.uri?eid=2-s2.0-0031631382&doi=10.1109%2fROBOT.1998.677276&partnerID=40&md5=9ae4de5636d0f8c64d20f29bb89ed9e5Presents 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.application/pdf654346 bytesapplication/pdfen-USGraphic 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 strategyjournal article10.1109/ROBOT.1998.6772762-s2.0-0031631382http://ntur.lib.ntu.edu.tw/bitstream/246246/2007041910021809/1/00677276.pdf