Location of Repository

Towards lifelong navigation and mapping in an office environment

By Gordon Wyeth and Michael Milford

Abstract

This paper addresses the challenge of developing robots that map and navigate autonomously in real world, dynamic environments throughout the robot’s entire lifetime – the problem of lifelong navigation. Static mapping algorithms can produce highly accurate maps, but have found few applications in real environments that are in constant flux. Environments change in many ways: both rapidly and gradually, transiently and permanently, geometrically and in appearance. This paper demonstrates a biologically inspired navigation algorithm, RatSLAM, that uses principles found in rodent neural circuits. The algorithm is demonstrated in an office delivery challenge where the robot was required to perform mock deliveries to goal locations in two different buildings. The robot successfully completed 1177 out of 1178 navigation trials over 37 hours of around the clock operation spread over 11 days

Topics: 080100 ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING
Publisher: Springer-Verlag Berlin Heidelberg
Year: 2009
DOI identifier: 10.1007/978-3-642-19457-3_35
OAI identifier: oai:eprints.qut.edu.au:48027

Suggested articles

Preview


To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.