Continuous purposive sensing and motion for 2D map building

Author

Kakusho, Koh ; Kitahashi, Tdahiro ; Kondo, K. ; Latombe, Jean-Claude

Author_Institution

Inst. of Sci. & Ind. Res., Osaka Univ., Japan

Volume

2

fYear

1995

fDate

22-25 Oct 1995

Firstpage

1472

Abstract

This article describes planning of sensing and motion by a mobile robot to build the map of a 2D unknown environment. The map is represented as a graph that describes the structure of the skeleton of the environment. It is incrementally built by connecting the local structure of the skeleton extracted from sensory data at each position of sensing. The motion of the robot to observe currently unknown region is first roughly planned with the graph-based global map and then precisely planned with a geometric local sensory information

Keywords

distance measurement; graph theory; mobile robots; path planning; planning (artificial intelligence); 2D map building; continuous purposive sensing; geometric local sensory information; graph-based global map; mobile robot; motion planning; sensing planning; Computer science; Data mining; Joining processes; Laboratories; Mobile robots; Motion planning; Navigation; Orbital robotics; Robot sensing systems; Skeleton;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.537980

Filename

537980