Advertisement

Maintaining Consistent Geographic Description of the Environment of an Autonomous Mobile Robot

  • G. Borghi
  • D. Brugali
Part of the International Centre for Mechanical Sciences book series (CISM, volume 365)

Abstract

In this paper we present a method for a mobile robot to explore autonomously an unknown environment. many issues are involved by such a task. In particular we present a model to represent geographic knowledge, based on an extension of the “Diktiometric representations”; this kind of representations broaden the topological model to include the geometric relations between places. The model we propose is a network of 2D geometric descriptions connected by arcs with geometric relations between nodes. We paid special attention to the maintenance of this model, providing mechanism to allow the consistent fusion of sensory observations. To keep low uncertainty inside each node, we introduce in the fusion process “internal relations”, whose measurements are affected only with the uncertainty of the sensor system and not on the robot location.

Keywords

Reference Frame Mobile Robot Visual Scene Geometric Relation Angular Width 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Engelson S.P and McDermott D.V.: “Error Correction in Mobile Robot Map Learning”, Proc. IEEE International Conference on Robotics and Automation, Nice (1992), pp. 2555–2560Google Scholar
  2. 2.
    Durrant-Whyte H.F.: “Integration, Coordination and Control of Multi-Sensor Robot Systems”, Kluwer Academic Publishers 1988Google Scholar
  3. 3.
    Kuypers B.J, Byun Y.,: “A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations”, Robotics and Autonomous System 8 (1991), pp. 47–63CrossRefGoogle Scholar
  4. 4.
    Ayache N. and Faugeras O.D.: “Maintaining Representations of the Environment of a Mobile Robot”, IEEE Trans. on Robotics and Automation, 5 (6) December 1989, pp. 337–350CrossRefGoogle Scholar
  5. 5.
    Elfes A: “Sonar-Based Real-World Mapping and Navigation”, IEEE Journal of Robotics and Automation, Vol RA-3, NO 3, June 1987Google Scholar
  6. 6.
    Preciado A., Meizel D. et al.: “Fusion of Multi-Sensor Data: a Geometric Approach”, Proc. IEEE International Conference on Robotics and Automation Sacramento, California–April 1991, pp. 2806–2811Google Scholar

Copyright information

© Springer-Verlag Wien 1996

Authors and Affiliations

  • G. Borghi
    • 1
    • 2
  • D. Brugali
    • 1
    • 3
  1. 1.Polytechnic of MilanMilanItaly
  2. 2.CNR-LADSEBPaduaItaly
  3. 3.Polytechnic of TurinTurinItaly

Personalised recommendations