Intelligent navigation in partially unknown indoor environments

被引：0

作者：

Poncela, A ^{[1
]}

Perez, EJ ^{[1
]}

Urdiales, C ^{[1
]}

Bandera, A ^{[1
]}

Sandoval, F ^{[1
]}

机构：

[1] Univ Malaga, ETSI Telecomunicac, Dept Tecnol Elect, E-29071 Malaga, Spain

来源：

COMPUTATIONAL INTELLIGENT SYSTEMS FOR APPLIED RESEARCH | 2002年

关键词：

D O I：

10.1142/9789812777102_0060

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents an exploration algorithm for partially or totally unknown environments. The method is based on a representation that integrates metric and topological paradigms. The metric paradigm produces an accurate representation of the environment. The topological map is built over the metric map by means of a hierarchical structure. It reduces the metric data volume and can be processed in a more efficient way. The representation of the environment is used to calculate a route through unexplored areas. The main advantage of the proposed scheme is that it can operate in known and unknown areas in a fast and efficient way.

引用

页码：495 / 502

页数：8

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