HISTOGRAMIC IN-MOTION MAPPING FOR MOBILE ROBOT OBSTACLE AVOIDANCE

This paper introduces histogramic in-motion mapping (HIMM), a new method for real-time map building with a mobile robot in motion. HIMM represents data in a two-dimensional array, called a histogram grid, that is updated through rapid in-motion sampling of on-board range sensors. Rapid in-motion sampling results in a map representation that is well-suited to modeling inaccurate and noisy range-sensor data, such as that produced by ultrasonic sensors, and requires minimal computational overhead. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. The benefits of this integrated approach are twofold: 1) quick, accurate mapping and 2) safe navigation of the robot toward a given target. HIMM has been implemented and tested on a mobile robot. Its dual functionality was demonstrated through numerous tests in which maps of unknown obstacle courses were created, while the robot simultaneously performed real-time obstacle avoidance maneuvers at speeds of up to 0.78 m/s.