A Method of Map Building for Robots in Unknown Indoor Environments

被引：0

作者：

Sun, Xuemin ^{[1
]}

Liu, Shuhua ^{[1
]}

Xia, Jing ^{[1
]}

Yang, Xue ^{[1
]}

机构：

[1] Northeast Normal Univ, Sch Comp Sci, Changchun, Jilin, Peoples R China

来源：

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年

关键词：

map building; Internal Spiral Coverage; grassfire; rasterization of sensor detection zone;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new method of map building is presented for mobile robots in unknown indoor environments. It combined Internal Spiral Coverage (ISC) algorithm, A* algorithm and wildfire algorithm to build the map in unknown indoor environments. The rasterization of sensor detection zone can improve the accuracy of map building which is affected by the error of the sensor data. Once an obstacle is explored, the robot will immediately go around it to identify. Simulation results show that the proposed method of map building is very effective in different indoor environments.

引用

页码：3642 / 3647

页数：6