Ground Plan Based Exploration with a Mobile Indoor Robot

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 6Language: englishTyp: PDF

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Wettach, Jens; Berns, Karsten (Robotics Research Lab, Department of Computer Science, University of Kaiserslautern, P.O. Box 3049, 67653 Kaiserslautern, Germany)

In order to navigate efficiently in its working space a mobile robot has to use some kind of map. To be completely autonomous the robot has to generate such a representation automatically by exploring all reachable area of the a priori unknown environment. Thus an exploration strategy for generating a complete and accurate map within minimal time is a key feature. This paper presents an integrated mapping and exploration approach that uses a 3D reconstruction technique for extracting a ground plan of the environment and for detecting interesting places (NBVs) that trigger the exploration process.