Towards lifelong navigation and mapping in an office environment
Wyeth, Gordon & Milford, Michael (2009) Towards lifelong navigation and mapping in an office environment. In Pradalier, C, Siegwart, R, & Hirzinger, G (Eds.) Proceedings of the 14th International Symposium of Robotics Research, Springer-Verlag Berlin Heidelberg, Lucerne, Switzerland,, pp. 589-603.
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.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2011 Springer-Verlag Berlin Heidelberg|
|Deposited On:||12 Jan 2012 23:10|
|Last Modified:||01 Mar 2012 05:30|
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