By Topic

Vision-based motion planning and exploration algorithms for mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Taylor, C.J. ; Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA ; Kriegman, D.

This paper considers the problem of systematically exploring an unfamiliar environment in search of one or more recognizable targets. The proposed exploration algorithm is based on a novel representation of environments containing visual landmarks, called the boundary place graph. This representation records the set of recognizable objects (landmarks) that are visible from the boundary of each configuration space obstacle. The exploration algorithm constructs the boundary place graph incrementally from sensor data. Once the robot has completely explored an environment, it can use the constructed representation to carry out further navigation tasks. We provide a necessary and sufficient condition under which the algorithm is guaranteed to discover all landmarks. This algorithm has been implemented on our mobile robot platform RJ, and results from these experiments are presented

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 3 )