A local map building process for a reactive navigation of a mobile robot

被引：6

作者：

Canou, J ^{[1
]}

Mourioux, G ^{[1
]}

Novales, C ^{[1
]}

Poisson, G ^{[1
]}

机构：

[1] Lab Vis & Robot, F-18020 Bourges, France

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1302484

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a modular method of environment perception for a mobile robot by local mapping. This map building process is done in order to authorize the motions of a mobile robot in unknown indoor environment. To validate it, we have implemented a reactive navigation on a mobile robot which perceives its near environment with two range finders. The map building process is the cluster of several functions: sort of measures in subsets, model of these subsets, elaboration of a map, and updating it with previous measures. Furthermore this process must be quick and sufficiently robust to deliver in real time a safe map to the robot.

引用

页码：4839 / 4844

页数：6