Laser-radar based mapping and navigation for an autonomous mobile robot

The environment mapping and navigation components of MOBOT-III are described. MOBOT-III is a laser-radar-based autonomous mobile robot designed to operate in an unknown indoor environment with moving obstacles. A simple environment representation that is continuously updated while MOBOT-III moves through the environment is used as the basis for the navigation method described. The environment representation is maintained by sensor data processing components, and a world model is built up successively as the system explores its environment.<
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