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- W1965086590 abstract "We present a behavior-based technique for incremental on-line mapping and autonomous navigation for mobile robots,specifically geared for time-critical indoor exploration tasks. The experimental platform used is a Pioneer AT mobile robot endowed with seven sonar transducers, a drift-stabilized gyro, a compass and a pan-tilt color camera. While the thrust of our work is the autonomous generation of real-time topological maps of the environment, both metric and topological descriptions of the environment are created in real time, each preserving its unique representational power and ease-of-use. We also present initial results on multi-robot cooperative topological mapping. The building blocks of the topological map are corridors, junctions and open/closed doors, augmented with absolute heading and metric information. Since the robot does not begin with an a priori map, all environmental features have to be evaluated at run-time to ensure safe navigation and efficient exploration. Our enhanced deadreckoning algorithm is backed up by the cyclic nature of indoor environments that provides additional hints for self-localization corrections. In addition, domain knowledge (such as perpendicular hallways) is used to actively correct maps as they are built on-line. All navigation, exploration, map building and self-localization capabilities are implemented as tightly-coupled behaviors, run by the onboard CPU." @default.
- W1965086590 created "2016-06-24" @default.
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- W1965086590 date "1999-11-15" @default.
- W1965086590 modified "2023-10-18" @default.
- W1965086590 title "<title>Incremental online topological map building with a mobile robot</title>" @default.
- W1965086590 doi "https://doi.org/10.1117/12.369248" @default.
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