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Symbolic environment representation by means of frescoes in mobile robotics

Published online by Cambridge University Press:  14 June 2005

Gilbert Pradel  and
Philippe Hoppenot
Gilbert Pradel
Affiliation:
Laboratoire Systèmes Complexes, Université d'Evry Val d'Essonne, CNRS FRE 2494 40, rue du Pelvoux, CE 1455 Courcouronnes, 91020 Evry cedex. (FRANCE)
Philippe Hoppenot
Affiliation:
Laboratoire Systèmes Complexes, Université d'Evry Val d'Essonne, CNRS FRE 2494 40, rue du Pelvoux, CE 1455 Courcouronnes, 91020 Evry cedex. (FRANCE)
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Abstract

Autonomous mobile robot navigation systems are based on three principal kinds of techniques: map-based navigation, map-building-based navigation and mapless navigation. We propose a mapless method for trajectory description in unknown indoor environments. The method uses distance measurements from a 2D laser range finder, digitises the robot's visibility area, eliminates superfluous data and reorients their presentation with laws similar to those used in cellular automata. The landmarks are extracted and organised in a panoramic description called fresco. The frescoes which are validated by means of neighbourhood rules. The most informative frescoes are detected by means of two criteria and stored. The stored frescoes are considered as a human-like descritption of the robot's route and could be used by the robot to retrieve its route to its starting point.

Keywords

Mobile roboticsIndoor navigationSymbolic environment
Type
Research Article
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 527 - 537
Copyright
© 2005 Cambridge University Press

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