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Proceedings Paper

Terrain acquisition algorithm for an autonomous mobile robot with finite-range sensors
Author(s): John M. Smith; Chang Y. Choo; Nasser M. Nasrabadi
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Paper Abstract

This paper presents a terrain model acquisition algorithm for a mobile robot with finite-range sensors in planar terrains. The finite two- dimensional terrain is populated by a finite number of stationary polygonal obstacles. If the robot can see only partial obstacle edge(s) because of its limited range of visibility, our algorithm guides the robot toward the direction in which the incomplete edge of the obstacle is completed at the end vertex. If the robot can see nothing at all within the current range, it is guided in a spiral-like manner to search the terrain for obstacles. In this paper, we formally describe this algorithm and show how it performs with respect to travel distance and the number of scanning operations for various sensor ranges. Also, some examples are shown.

Paper Details

Date Published: 1 March 1991
PDF: 9 pages
Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); doi: 10.1117/12.45492
Show Author Affiliations
John M. Smith, Worcester Polytechnic Institute (United States)
Chang Y. Choo, Worcester Polytechnic Institute (United States)
Nasser M. Nasrabadi, Worcester Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1468:
Applications of Artificial Intelligence IX
Mohan M. Trivedi, Editor(s)

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