|zpravodaj ČSKI - leden 2001 [ pdf ]|
datum: 22.1.2001 v 11:00
název: A lidar-based mobile robot navigation and environment mapping
přednášející: Roman Mázl (GL laboratoř) ,
Libor Přeučil (GL laboratoř)
místo konání: CVUT, 1.patro, místnost č.112
souhrn: A central task for autonomous mobile systems (robots) is to navigate thru the environment. The task consists of two basic and complementary subgoals known as position determination and recovery of the environment shape and structure.
The presented contribution describes a brand new, robust and simple approach to 2D environment mapping making-use of a TOF-based laser ranging system. As the used mobile system has no absolute positioning the primary task is to determine exact position and heading of the robot. If the first step is successfuly completed a full recovery of the particular object boundaries can be done. The obstacle recovery process incorporates multiple steps consisting of a bounary segment recovery, process of linking cracked or isolated segments and a decision-making procedure learning the newly recovered entities into the robot's memory.