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Proceedings Paper

Real-time map building for fast mobile robot obstacle avoidance
Author(s): Johann Borenstein; Yoram Koren
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Paper Abstract

This paper introduces HIMM (histogramic in-motion mapping) a new method for real-time map building with a mobile robot in motion. HIMM represents data in a two-dimensional array (called a histogram gjid) that is updated through rapid continuous sampling of the onboard range sensors during motion. Rapid in-motion sampling results in a statistical map representation that is well-suited to modeling inaccurate and noisy range-sensor data. HIMM is integral part of an obstacle avoidance algorithm and allows the robot to immediately use the mapped information in real-time obstacleavoidance. The benefits of this integrated approach are twofold: (1) quick accurate mapping and (2) safe navigation of the robot toward a given target. HIMM has been implemented and tested on a mobile robot. Its dual functionality was demonstrated through numerous tests in which maps of unknown obstacle courses were created while the robot simultaneously performed real-time obstacle avoidance maneuvers at speeds of up to 0. 78m/sec.

Paper Details

Date Published: 1 March 1991
PDF: 8 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25455
Show Author Affiliations
Johann Borenstein, Univ. of Michigan (United States)
Yoram Koren, Univ. of Michigan (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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