On-line map building and navigation for autonomous mobile robots

摘要

The problem of sensor-based robot motion planning in unknown environments is addressed. The proposed solution approach prescribes the repeated sequence of two fundamental processes: perception and navigation. In the former, the robot collects data from its sensors, builds local maps and integrates them with the global maps so far reconstructed, using fuzzy logic operators. During the navigation process, a planner based on the A* algorithm proposes a path from the current position to the goal. The robot moves along this path until one of two termination conditions is verified namely (i) an unexpected obstructing obstacle is detected, or (ii) the robot is leaving the area in which reliable information has been gathered. Experimental results are presented for a Nomad 200 mobile robot.