AMOR-an autonomous mobile robot navigation system

In this paper an autonomous mobile robot navigation system, capable of performing automated office delivery tasks, is described. The implemented prototype system is capable of autonomously navigating from one room to another designated by the operator. This involves: 1) navigation in a room, where the robot dynamically detects and avoid obstacles; 2) hall navigation, where it follows the walls by a reactive scheme; and 3) door traversing, where the robot autonomously positions the door and passes safely through it. The only a priori knowledge used by the system consists of a graph representation of the navigation environment, containing door positions. A priori, no knowledge is provided about the position, physical or geometrical properties of other objects in the environment