{"title":"自主移动机器人对室内环境的探索","authors":"Thomas Edlinger, E. Puttkamer","doi":"10.1109/IROS.1994.407463","DOIUrl":null,"url":null,"abstract":"This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"36","resultStr":"{\"title\":\"Exploration of an indoor-environment by an autonomous mobile robot\",\"authors\":\"Thomas Edlinger, E. Puttkamer\",\"doi\":\"10.1109/IROS.1994.407463\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure.<<ETX>>\",\"PeriodicalId\":437805,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"volume\":\"55 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"36\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1994.407463\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407463","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Exploration of an indoor-environment by an autonomous mobile robot
This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure.<>
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