DocumentCode
2396479
Title
Autonomous exploration and mapping in an unknown environment
Author
Ip, Y.L. ; Rad, A.B. ; Wong, Y.K.
Author_Institution
Dept. of Electr. Eng., Hong Kong Polytech. Univ., Kowloon, China
Volume
7
fYear
2004
fDate
26-29 Aug. 2004
Firstpage
4194
Abstract
This work presents an autonomous exploration strategy for mapping in an unknown indoor environment by mobile robot. A simple and real-time system is designed for detecting an open free space via a Bayesian update theory instead of pre-trained system or accurate sensing system. Reactive navigation scheme is applied to start the exploration by using a predefined hierarchical fused fuzzy system (HFFS). The performance of the proposed algorithm is tested via robot simulator and physical mobile robot Pioneer 2DX.
Keywords
Bayes methods; fuzzy systems; hierarchical systems; mobile robots; navigation; real-time systems; Bayesian update theory; autonomous exploration; autonomous mapping; free space detection; hierarchical fused fuzzy system; indoor environment; mobile robot Pioneer 2DX; mobile robot simulator; reactive navigation scheme; real time system; Fuzzy systems; Indoor environments; Mobile robots; Navigation; Orbital robotics; Real time systems; Robot sensing systems; Robustness; Sonar; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN
0-7803-8403-2
Type
conf
DOI
10.1109/ICMLC.2004.1384575
Filename
1384575
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