Duckett, Tom and Nehmzow, Ulrich
(1999)
Exploration of unknown environments using a compass, topological map and neural network.
In: IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA '99., 8-9 November 1999, Monterey, CA, USA.
Full content URL: http://ieeexplore.ieee.org/document/810067/
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| Item Type: | Conference or Workshop contribution (Paper) |
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Abstract
This paper addresses the problem of autonomous exploration and mapping of unknown environments by a mobile
robot. A map-based exploration system is presented, in which a topological map of the environment is acquired incrementally by the robot, using an artificial neural network to detect new areas of unexplored territory. Using
this approach, no manual intervention in the map acquisition process is required, and all computation is carried
out in real-time on board the robot. Experiments are presented in which a Nomad 200 robot successfully mapped
and navigated complex, real world environments containing transient changes such as moving people.
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