Real Time Mapping and Dynamic Navigation for Mobile Robots

[摘要] This paper discusses the importance, the complexity and the challenges of mapping mobile robot's unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away ...

[学科分类] 自动化工程

[关键词] Mapping;Real-Time Navigation;Mobile Robot;Dynamic Environment;Localization;SLAM;Obstacle Avoidance;Topology;Occupancy Grid;Uncertainty;Unknown Environment