The map-building and exploration strategies of a simple sonar-equipped mobile robot
The map-building and exploration strategies of a simple sonar-equipped mobile robot
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Mobile robots (2nd ed.): inspiration to implementation
Mobile robots (2nd ed.): inspiration to implementation
Robot Motion Planning
Introduction to Robotics
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
MICAI '00 Proceedings of the Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
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To learn a map of an environment a mobile robot has to explore its workspace. This paper introduces a new exploration approach that minimizes movements of the robot to reach the nearest unexplored region of the environment. In contrast to other methods, this approach takes into account rotations of the robot as well as the distance traveled by the robot, to compute an optimal movement policy to reach the nearest unexplored region. The robot acquires a kind of inertial mass that decreases the number of movements that changes the orientation of the robot, and hence reduces odometric errors. This approach is tested using a mobile robot simulator with very good results.