An exploration and navigation approach for indoor mobile robots considering sensor´s perceptual limitations

Author

Romero, Leonardo ; Morales, Eduardo ; Sucar, Enrique

Author_Institution

ITESM, Morelos, Mexico

Volume

3

fYear

2001

fDate

2001

Firstpage

3092

Abstract

A method for exploring and navigating autonomously in indoor environments is described. This method merges a local strategy, similar to wall following to keep the robot close to obstacles, within a global search frame, based on a dynamic programming algorithm. We introduce the concept of travel space as a way to map costs to grid cells based on distances to obstacles. This hybrid approach takes advantages of local strategies that consider perceptual limitations of sensors without losing the completeness of a global search. This exploration and navigation method is tested using a simulated and a real mobile robot with promising results.

Keywords

dynamic programming; laser ranging; mobile robots; path planning; probability; search problems; sensor fusion; ultrasonic transducers; autonomous navigation; dynamic programming algorithm; exploration; global search frame; grid cells; indoor mobile robots; local strategy; sensor perceptual limitations; travel space; Costs; Dynamic programming; Heuristic algorithms; Indoor environments; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Space exploration; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933092

Filename

933092