Autonomous Variable-Resolution Map Building for Mobile Robots in Unknown Environments

被引：0
|
作者：
Xiang, Jingyu [1 ]
Tazaki, Yuichi [1 ]
Inagaki, Shinkichi [1 ]
Suzuki, Tatsuya [2 ]
机构：
[1] Nagoya Univ, Grad Sch Engn, Nagoya, Aichi 4648601, Japan
[2] Nagoya Univ, Nagoya, Aichi 4648601, Japan
来源：
ELECTRICAL ENGINEERING IN JAPAN | 2014年 / 186卷 / 04期
关键词：
sensor-based navigation; graph map; path planning; variable-resolution; PATH; MOTION; SLAM;
D O I：
10.1002/eej.22493
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. (c) 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59-69, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22493
引用
收藏
页码：59 / 69
页数：11
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