Title :
Exploration of an indoor-environment by an autonomous mobile robot
Author :
Edlinger, Thomas ; Von Puttkamer, Ewald
Author_Institution :
Dept. of Comput. Sci., Kaiserslautern Univ., Germany
Abstract :
This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure
Keywords :
computational geometry; feature extraction; mobile robots; navigation; optical radar; path planning; sensor fusion; topology; 2D-map; MOBOT-IV; autonomous mobile robot; bubble fusion; geometric representation; indoor-environment exploration; optical range finder; radar map; topological abstraction; Application software; Computer science; Data processing; Hardware; Mobile robots; Optical sensors; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Wheels;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407463
