Representing environment through target-guided navigation
Kato, K.
Tsuji, S.
Ishiguro, H.
Dept. of Comput. & Commun. Sci., Wakayama Univ.;
This paper appears in: Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on
Publication Date: 16-20 Aug 1998
Volume: 2,
On page(s): 1794-1798 vol.2
Meeting Date: 08/16/1998 - 08/20/1998
Location: Brisbane, Qld., Australia
ISBN: 0-8186-8512-3
References Cited: 11
INSPEC Accession Number: 6104194
Digital Object Identifier: 10.1109/ICPR.1998.712077
Current Version Published: 2002-08-06
Abstract
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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