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Real-Time Map Building and Navigation for Autonomous Robots in Unknown Environments (1999)
| Content Provider | CiteSeerX |
|---|---|
| Author | Oriolo, Giuseppe Ulivi, Giovanni Vendittelli, Marilena |
| Abstract | An algorithmic solution method is presented for the problem of autonomous robot motion in completely unknown environments. Our approach is based on the alternate execution of two fundamental processes: map building and navigation. In the former, range measures are collected through the robot exteroceptive sensors and processed in order to build a local representation of the surrounding area. This representation is then integrated in the global map so far reconstructed by filtering out insufficient or conflicting information. In the navigation phase, an A*-based planner generates a local path from the current robot position to the goal. Such path is safe inside the explored area and provides a direction for further exploration. The robot follows the path up to the boundary of the explored area, terminating its motion if unexpected obstacles are encountered. The most peculiar aspects of our method are the use of fuzzy logic for efficiently building and modifying the environment map, and ... |
| File Format | |
| Volume Number | 28 |
| Journal | IEEE Transactions on Systems, Man, and Cybernetics |
| Language | English |
| Publisher Date | 1999-01-01 |
| Access Restriction | Open |
| Subject Keyword | Unknown Environment Autonomous Robot Real-time Map Building Explored Area Global Map Range Measure Alternate Execution Local Path Peculiar Aspect Fundamental Process Environment Map Local Representation Algorithmic Solution Method Current Robot Position Unexpected Obstacle Map Building Autonomous Robot Motion Fuzzy Logic Robot Exteroceptive Sensor Navigation Phase |
| Content Type | Text |
| Resource Type | Article |
