Referenced Items are not available for this document.
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
Published in:
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
(Volume:2
)
Date of Conference: 16-20 May 1998
- Page(s):
- 1262 - 1268 vol.2
- Meeting Date :
- 16 May 1998-20 May 1998
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-4300-X
- INSPEC Accession Number:
- 5966129
- Conference Location :
- Leuven
- Digital Object Identifier :
- 10.1109/ROBOT.1998.677276
- Product Type:
- Conference Publications
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