A cognitive modeling of space using fingerprints of places for mobile robot navigation

Author

Tapus, Adriana ; Siegwart, Roland

Author_Institution

Autonomous Syst. Lab, Ecole Polytech. Fed. de Lausanne

fYear

2006

fDate

15-19 May 2006

Firstpage

1188

Lastpage

1193

Abstract

In this work we address the problem of perception, spatial cognition and topological navigation for a mobile robot. The objective of this work is to enable the navigation of an autonomous mobile robot (or vehicle) in an indoor (or outdoor) structured environment without relying on maps a priori learned and without using artificial landmarks. A new method for incremental and automatic topological mapping and global localization using fingerprints of places is presented. The fingerprint-based representation permits a reliable, compact and distinctive environment-modeling. Experimental results for mapping indoor and outdoor environments with a mobile robot and a "SMART" vehicle, both equipped with a multi-sensor system composed of two 180deg laser range finders and an omnidirectional camera are also reported

Keywords

cognitive systems; image sensors; mobile robots; path planning; sensor fusion; SMART vehicle; automatic topological mapping; cognitive modeling; fingerprint-based representation; global localization; mobile robot navigation; multi-sensor system; omnidirectional camera; spatial cognition; Biological system modeling; Cognition; Cognitive robotics; Fingerprint recognition; Humans; Mobile robots; Navigation; Robot kinematics; Robustness; Simultaneous localization and mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641870

Filename

1641870