Incremental free-space modelling from uncertain data by an autonomous mobile robot

Abstract

Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disappearance of objects.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>