Exploration of unknown environments using a compass, topological map and neural network

Abstract

This paper addresses the problem of autonomous exploration and mapping of unknown environments by a mobile robot. A map-based exploration system is presented, in which a topological map of the environment is acquired incrementally by the robot, using an artificial neural network to detect new areas of unexplored territory. Using this approach, no manual intervention in the map acquisition process is required, and all computation is carried out in real-time on board the robot. Experiments are presented in which a Nomad 200 robot successfully mapped and navigated complex, real world environments containing transient changes such as moving people.