Comparing World Modelling Strategies for Autonomous Mobile Robots英文电子书.pdf

IWK ´94, Ilmenau, Germany September 27 - 30, 1994 Comparing World-Modelling Strategies for Autonomous Mobile Robots Uwe R. Zimmer Ewald von Puttkamer University of Kaiserslautern - Computer Science Department - Research Group Prof. E. v. Puttkamer 67663 Kaiserslautern - Germany Phone: …49 631 205 2624 - Fax: …49 631 205 2803 - Telex: 4 5627 unikl d e-mail: uzimmer@informatik.uni-kl.de The focus of this paper is on strategies for adapting which forms one room. Finally the decomposition a couple of internal representations to the actual tree is labelled with names, which are useful or environment of a mobile robot. From the range of meaningful for an operator resp. a symbolic planner. approaches, two different (and in a sense orthogo- The HILARE-representations may be used as a well nal) basic ideas are discussed, regarding computa- defined basis for further discussions. tional effort, stability, reliability, sensor Other well known geometric representations are the requirements, and consistency as well as their use- generalized cones by Brooks [1] and their extensions ful applications. The first approach is an exact, ge- by Kuan et al. [5], and the configuration space ap- ometric technique using line representations proach introduced by Lozano-Pérez [9]. The number extracted from the information produced by a la- of papers dealing with topologic extractions of geo- ser-range finder. The second discussed possibility is metric models or with the creation of topologic re