A simple modelling of complex environments for mobile robots

Authors:
Jun Miura;Suguru Ikeda
Affiliations:
Department of Information and Computer Sciences, Toyohashi University of Technology, Toyohashi 441-8580, Japan.;Department of Mechanical Engineering, Osaka University, Osaka 565-0871, Japan
Venue:
International Journal of Intelligent Systems Technologies and Applications
Year:
2009

Citing 3
Cited 1

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Abstract

This paper deals with 3D environment modelling for mobile robots. The environment model we would like to generate is to be used as a medium of communication of location information between users and mobile robots. For such communication, a very precise environment model is not necessary. Thus, we develop a method of generating 3D model which is simple enough to generate fast but has sufficient geometric and appearance information. We also develop a robot localisation method and a Graphical User Interface, and verify that the model can actually support such communication.