Incremental free-space modelling from uncertain data by an autonomous mobile robot
P. Moutarlier, Raja Chatila · 2002
Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disappearance of objects.>