Exploration Strategies for Mobile Robots

10 years 6 months ago
Exploration Strategies for Mobile Robots
The problem of programming a robot t o carry out a systematic exploration of its environment using realistic sensors is considered in this paper. The robot is modelled as a single point moving in a twodimensional configuration space populaied with visually opaque and transparent obstacles. The robot is equipped with proximity sensors, a vision-based recognition system, and a method of odometry, all of which have some uncertainty associated with their measurements. By using visually distinctive configurations of features in the world as natural landmarks, a series of local maps is constructed. The geometrical relationships between mutually visible landmarks are used to build a relational map from this collection of local maps. This novel representation forms the basis for a systematic exploration algorithm. The approach has been implemented in simulation, and results are presented.
Camillo J. Taylor, David J. Kriegman
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors Camillo J. Taylor, David J. Kriegman
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