Combining configuration space and occupancy grid for robot navigation

Abstract

This article introduces a map generation algorithm that combines configuration space and occupancy grid approaches. This algorithm is suitable for a mobile robot system with local sensors for positioning. Global positioning is not required. The algorithm will generate a driving path for the robot to explore the unknown environment around it. A version of the DistBug algorithm is used to determine routes around obstacles. The algorithm can deal with imperfect distance sensors and localization errors.