A local map building process for a reactive navigation of a mobile robot

Joseph Canou , Gérard Poisson , Gilles Mourioux , Cyril Novales (1)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

In this paper, we present a modular method of environment perception for a mobile robot by local mapping. This map building process is done in order to authorize the motions of a mobile robot in unknown indoor environment. To validate it, we have implemented a reactive navigation on a mobile robot which perceives its near environment with two range finders. The map building process is the cluster of several functions: sort of measures in subsets, model of these subsets, elaboration of a map, and updating it with previous measures. Furthermore this process must be quick and sufficiently robust to deliver in real time a safe map to the robot.

Mots clés: robotics; navigation; perception

Domaines: Robotique [cs.RO]

Joseph Canou, Gérard Poisson, Gilles Mourioux, Cyril Novales. A local map building process for a reactive navigation of a mobile robot. ICRA, 2004, New Orleans, United States. pp.4839-4844, ⟨10.1109/ROBOT.2004.1302484⟩. ⟨hal-00920627⟩