Abstract
Incremental map-making is a necessary function of an autonomous mobile robot. Sensor data are always imprecise, and in the case of a mobile robot, sensor location is itself imprecise and even sometimes false (e.g. in case of slippage). We show how sensors data inaccuracies can be processed to produce a consistent environment model and an as precise as possible robot positioning. The experimental system (a mobile robot with a laser range finder and odometry) is presented and the theoretical approach is applied on actual data.
This work was partially and independantly supported by a contract with SHELL SRSA Grand Couronne, and by ESPRIT project P1560 (SKIDS)
Supported by a CIFRE with SRSA
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
Ayache N. Construction et fusion de représentations visuelles 3D; applications à la robotique mobile. Thèse d'Etat, Université d'Orsay, Mai 1988.
Brooks R. Aspects of mobile robot visual map making. IEEE Int'l Conf. on Robotics and Automation, St-Louis, March 1985.
Chatila R., J-P. Laumond, Position referencing and consistent world modelling for mobile robots, IEEE International Conference on Robotics and Automation, St-Louis, March 1985.
Durrant-Whyte H. Integration, coordination and control of multisensor robot systems. Kluwer Academic Pub. 1988.
P. Grandjean and A. R. de St Vincent. 3D geometric modeling of indoor scenes with planar facets by fusion of noisy range and stereo data. IEEE Conf. on Robotics and Automation, Scottsdale, AZ. May 1989.
Jazwinski A. Stochastic Processes and Filtering Theory. Vol. 64 in Mathematics in Science and Engineering. Academic Press, 1970.
Julliere M., Marce L., Place H. a guidance system for a mobile robot. 13th Int. Symp on Industrial Robots, Chicago 1983.
Matthies L., T. Kanade. The cycle of uncertainty and constraint in robot perception. 4th ISRR, Bolles & Roth Eds., MIT Press, 1988.
Mazon I., Alami R. Representation and propagation of positioning uncertainties through manipulation robot programs. Integration into a task-level programming system. 1989 IEEE Conf. on Robotics and Automation, Phoenix, AZ, 1989.
Moutarlier P., Chatila R. Stochastic Multisensory Data Fusion For Mobile Robot Location And Environment Modelling. 5th ISRR, Tokyo, August 1989.
Smith R.C, Self M., Cheeseman P. Estimating uncertain spatial relationships in robotics. 2nd workshop on uncertainty in Artificial Intelligence (AAAI), Philadelphia, Aug. 1986
Ming Wang C. Location estimation and uncertainty analysis for mobile robots. 1988 IEEE Conf on Robotics and Automation, Railegh, 1988.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1990 Springer-Verlag
About this paper
Cite this paper
Moutarlier, P., Chatila, R. (1990). An experimental system for incremental environment modelling by an autonomous mobile robot. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042528
Download citation
DOI: https://doi.org/10.1007/BFb0042528
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-52182-2
Online ISBN: 978-3-540-46917-9
eBook Packages: Springer Book Archive