Comparing World-Modelling Strategies for Autonomous Mobile Robots
IWK ´94, Ilmenau, Germany, September 27 - 30, 1994
Uwe R. Zimmer & Ewald von Puttkamer - contact authors
The focus of this paper is on strategies for adapting a couple of
internal representations to the actual environment of a mobile robot.
From the range of approaches, two different (and in a sense
orthogonal) basic ideas are discussed, regarding computational effort,
stability, reliability, sensor requirements, and consistency as well
as their useful applications. The first approach is an exact,
geometric technique using line representations extracted from the
information produced by a laser-range finder. The second discussed
possibility is a qualitative, topologic mapping of the environment
using neural clustering techniques. Both presented classes of
environment-modelling strategies are evaluated on the basis of
principal arguments and of simulations resp. tests on real robots.
Experiences from the MOBOT resp. the ALICE project are discussed
together with some related work.