Abstract
Real mobile robots should be able to build a virtual representation of the physical environment, in order to navigate and work in such environment. This paper presents an adaptive way to make such representation without any a priori information of the environment. The proposed system allows the robot to explore the entire environment and acquire the information incoming from the sensors while it travels and, due to the adaptability of the mapping method, the system is able to increase the memory usage according to the already mapped area. The map, built using the adaptive technique, is useful to provide navigation information for the robot, allowing it to move on the environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Brooks, R. A. “Visual Map Making for a Mobile Robot”, Proc. IEEE International Conference Robotics and Automation., St. Louis, MO, 1985, pp. 824–829.
Donald, B. R.; Howell J. “Practical Mobile Robot Self-Localization”, Proceedings International Conference on Robotics and Automation, San Francisco, CA, 2000.
Hirakawa, A. R; Júnior, J. R. A.; Neto, J. J. “Adaptive Automata for Independent Autonomous Navigation in Unknown Environment”, International Conference on Applied Simulation and Modelling, Banff, Alberta, 2000.
Innocenti, C. et al. “Trajectory planning and real-time control of an autonomous mobile robot equipped with vision and ultrasonic sensors”, Proc. of the International Conference on Intelligent Robots and Systems IROS’94, Munich, September 12–16, 1994, pp. 1861–1866.
Jennings, J.; Kirkwood-Watts, C; Tanis, C. “Distributed Map-Making and Navigation in Dynamic Environments”, 1998.
Ma, C.; Liu, L.; Li, W. “Mobile Robot Motion by Integration of Low-Level Behavior Control and High-Level Global Planning”, Proceedings of the IEEE International Conference on System, Man and Cybernetics, China, 1996, pp.310–315.
Neto, J. J. “Adaptive Automata for Context-Dependent Languages”, ACM SIGPLAN Notices, 1994, v.29,n.9, pp.115–24.
Sousa, M. A. A.; Hirakawa, A. R.; Neto, J. J. “Adaptive Automata for Mobile Robotic Mapping”, Proceedings of 8th SBRN, Sao Luís, MA, Brazil. 2004.
Sousa, M. A. A.; Hirakawa, A. R.; Neto, J. J. “Adaptive Automata for Mapping Unknown Environments by Mobile Robots”, Lecture Notes in Artificial Intelligence. Lemaître, C; Reyes, C. A.; González, J. A. (Eds.): Advances in Artificial Intelligence — IBERAMIA 2004, Springer-Verlag, pp 562–571. 2004.
Zimmer, U. R. “Embedding local map patches in a globally consistent topological map”, Proceedings of the Int. Symposium on Underwater Technology, Japan, 2000.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag/Wien
About this paper
Cite this paper
de Sousa, M.A.d.A., Hirakawa, A.R. (2005). Robotic mapping and navigation in unknown environments using adaptive automata. In: Ribeiro, B., Albrecht, R.F., Dobnikar, A., Pearson, D.W., Steele, N.C. (eds) Adaptive and Natural Computing Algorithms. Springer, Vienna. https://doi.org/10.1007/3-211-27389-1_83
Download citation
DOI: https://doi.org/10.1007/3-211-27389-1_83
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-24934-5
Online ISBN: 978-3-211-27389-0
eBook Packages: Computer ScienceComputer Science (R0)