Range Sensor-Based Environment Model Acquistion for Autonomous Robot
R.H.T. Chan, P.K.S. Tam, D.N.K. Leung · 2005
This paper proposes an environment model acquisition technique for robot navigation in an unknown terrain, which requires no prior information about the environment, and which can handle concave Curved/polygonal obstacles as well as convex ones . In this method, features extracted from the coefficients of X/sup 2/ terms which approximate sets of 4 consecutive range sensor data with second-order polynomials by the Least-squares method. Then a "local environment map" representing the robot's line of sight environment can be built. This map is helpful for a local planner to devise safe paths in an unknown environment.