Tom Duckett and Ulrich Nehmzow

Exploration of Unknown Environments using a Compass, Topological Map and Neural Network

Proc. CIRA '99, 1999 IEEE Int. Symposium on Computational Intelligence in Robotics and Automation



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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Bibtex

@INPROCEEDINGS{DuckettCIRA99,
 AUTHOR = "Tom {Duckett} and Ulrich {Nehmzow}",
 TITLE = "Exploration of Unknown Environments using a Compass, Topological Map and Neural Network", 
 BOOKTITLE = "Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'99)", 
 ADDRESS = "Monterey, CA",
 YEAR = 1999,
}