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Autonomous Variable‐Resolution Map Building for Mobile Robots in Unknown Environments
Author(s) -
Xiang Jingyu,
Tazaki Yuichi,
Inagaki Shinkichi,
Suzuki Tatsuya
Publication year - 2014
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22493
Subject(s) - workspace , omnidirectional antenna , mobile robot , computer science , robot , computer vision , artificial intelligence , motion planning , variable (mathematics) , omnidirectional camera , graph , representation (politics) , range (aeronautics) , real time computing , engineering , mathematics , theoretical computer science , telecommunications , mathematical analysis , politics , political science , antenna (radio) , law , aerospace engineering
SUMMARY This paper presents a method that allows simultaneous map building and path planning for mobile robots in unknown environments. A graphical representation of a workspace in variable resolutions is constructed using measurement data obtained by omnidirectional distance sensors. At the same time, a search for a feasible path to the target destination is executed using the constructed graph map. The proposed method is evaluated by performing simulations and experiments using an omnidirectional mobile robot equipped with laser range finders. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 59–69, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22493