This paper deals with adaptive spatial modelling for mobile robots. As the central optimization criterion, the navigation performance, i.e. the performance of moving is employed. Criteria like the flexibility of the user-interface or the performance of a planner for manipulations, etc. are not considered. Due to the fact that the navigator uses the internal relative position, the self-localization task is included in the model as well as in its adaptation process. Finally, the exploration strategy in previously unknown environments influences significantly the methods of world model adaptation. A mobile platform in unknown environments, not prepared in the form of defined absolute positions (landmarks), is considered. Furthermore it is assumed that the robot's sensor equipment is adequate for the working environments, i.e. any feature meaningful for manoeuvring, for the application or concerning the robot's security aspects can be detected. Then the elementary tasks, essential for the considered mobile platform (and for most mobile robots) can be summarized. (2 pages)
Robust and adaptive world models for mobile robots
1996-01-01
1 pages
Article (Journal)
English
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