Abstract
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 handling of an position error in a moving real-time system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
N. S. V. Rao, S. S. Iyengar, B. J. Oommen, R. L. Kashyap, “On Terrain Acquisition by a Point Robot Amidst Polyhedral Obstacles”, IEEE Journal of Robotics and Automation, Vol. 4, No. 4, Tsukuba, Japan, Aug. 1988, pp. 450–455
B. J. Kuipers, Y. T. Byun, “A Qualitative Approach to Robot Exploration and Map-Learning”, AAAI Workshop on Spatial Reasoning and Multi-Sensor Fusion, St. Charles, Illinois, Oct 1987, pp. 390–404
J. Iijima, S. Asaka, S. Yuta, “Searching Unknown Environment By A Mobile Robot Using Range Sensor — An Algorithm And Experiment”, IEEE/RSJ International Workshop on Intelligent Systems 89, Tsukuba, Japan, Sep. 1989, pp. 46–53
T. Edlinger, E. v. Puttkamer, “Exploration of an indoor-environment by an Autonomous Mobile Robot”, Intelligent Robots and Systems, Munich, Germany, Sep. 1994, pp. 1278–1284
E. von Puttkamer, C. Wetzler, U. R. Zimmer, “ALBATROSS — The Communication Scheme as a Key to Fulfil Hard Real-Time Constraints”, Proc. of the Euromicro ’92 Realtime Workshop, Greece, 1992
S. Hanan, “The Quadtree and Related Hierarchical Data Structures”, Computing Surveys 16, No. 2, 1984, pp. 187–260
P. E. Hart, N. J. Nilsson, B. Raphael, “A Formal Basis for the Heuristic Determination of Minimum Cost Paths”, IEEE Transaction on Systems Science and Cybernetics, Vol. SCC-4, No. 2, July 1968, pp. 100–107
R. O. Duda, P. E. Hart, “Pattern Classification and Scene Analysis”, John Wiley & Sons, New York, 1973
G. Weiß, C. Wetzler, E. v. Puttkamer, “Keeping Track of Position and Orientation of Moving Indoor Systems by Correlation of Range-Finder Scans”, Intelligent Robots and Systems, Munich, Germany, Sep. 1994, pp. 595–601
G. Weiß, E. v. Puttkamer, “A Map Based On Laserscans Without Geometric Interpretation”, Intelligent Autonomous Systems-4 (IAS-4), Karlsruhe, Germany, March 1995, pp. 403–407
R. Hinkel, “Konzeption eines echtzeitfähigen autonomen, mobilen Systems”, PhD-Thesis, Dept. of Computer Science, University of Kaiserslautern, Germany, 1989, pp. 172–180
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1995 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Edlinger, T., Weiß, G. (1995). Exploration, Navigation and Self-Localization in an Autonomous Mobile Robot. In: Dillmann, R., Rembold, U., Lüth, T. (eds) Autonome Mobile Systeme 1995. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-80064-1_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-80064-1_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-60657-4
Online ISBN: 978-3-642-80064-1
eBook Packages: Springer Book Archive