Representing environment through target-guided navigation
Kato, K.; Tsuji, S.; Ishiguro, H.
Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on
Volume 2, Issue , 16-20 Aug 1998 Page(s):1794 - 1798 vol.2
Digital Object Identifier   10.1109/ICPR.1998.712077
Summary:Proposes an environmental representation, called a T-Net, a network of the path segments which reflects the structure of the environment. The robot iterates panoramic-sensing to find and estimate the skeletons of local areas, as well as their spatial relationships, through active navigation guided by selected targets. The robot represents the environment by a network of the skeletons which are used as the path segments for planning and navigating to a goal in real-time. Dynamic change often occurs in a real environment and the robot, thereby, detects such changes while navigating to a destination and updates the T-Net with alternative path segments if they are structural changes. Results of experiments using a robot with a real-time omnidirectional vision sensor are given

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