Localization,Exploration, and Navigation Based on Qualitative Angle Information |
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Authors: | Frieder Stolzenburg |
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Institution: | Hochschule Harz, Dept. of Automation and Computer Sciences , 38855 Wernigerode, Germany |
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Abstract: | Abstract Three of the major problems in building autonomous mobile robots are localization, exploration, and navigation. This paper investigates how well different qualitative methods based on angle information, most of them originally invented for representation of spatial knowledge, are suited for addressing these problems. It combines results from discrete and computational geometry with methods from qualitative spatial reasoning, gaining some new insights on the complexity of robot navigation. It turns out that essentially only with panoramas (special roundviews) the qualitative localization problem can be solved in a satisfactory manner. The exploration problem (qualitative map building), remains difficult for all considered approaches. |
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Keywords: | qualitative navigation angle information relative orientation spatial reasoning |
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