Local map validity region design

摘要

Deals with the design of local maps and their associated validity region. A local map is introduced as a set of the best landmarks used for planning and executing robust motions. An automatic local map design is studied for a non-holonomic mobile robot equipped with a ring of telemetric sensors and navigating in an indoor environment. The goal of the work is to define observations and their associated sensing points, which can be both used by a planner and an execution controller. The result is a simplification of the matching process and a robust navigation completion. At execution time local navigation instead of global navigation is performed using local maps in validity region for the robot localization.