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Exploration, Navigation and Self-Localization in an Autonomous Mobile Robot

  • In this paper the autonomous mobile vehicle MOBOT-IV is presented, which is capable of exploring an indoor-environment while building up an internal representation of its world. This internal model is used for the navigation of the vehicle during and after the exploration phase. In contrast to methods, which use a grid based or line based environment representation, in the approach presented in this paper, local sector maps are the basic data structure of the world model. This paper describes the method of the view-point-planning for map building, the use of this map for navigation and the method of external position estimation including the hand- ling of an position error in a moving real-time system.

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Metadaten
Author:Thomas Edlinger, Gerhard Weiß
URN (permanent link):urn:nbn:de:hbz:386-kluedo-2835
Document Type:Preprint
Language of publication:English
Year of Completion:1995
Year of Publication:1995
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/03
Source:Autonome mobile Systeme 95, Karlsruhe, Germany, 30. Nov. - 1. Dez. 1995
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011