Title :
Incremental free-space modelling from uncertain data by an autonomous mobile robot
Author :
Moutarlier, Philippe ; Chatila, Raja
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disappearance of objects
Keywords :
distance measurement; measurement by laser beam; mobile robots; navigation; 2D mobile robot; autonomous mobile robot; free-space modelling; incremental environment modelling; laser range-finder; navigation; polygons; polylines; surfacic model; uncertain data; Analytical models; Fuses; Laser modes; Mobile robots; Navigation; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Trajectory; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174631
