Local Free-Space Mapping and Path Guidance for Mobile Robots

摘要

A method was developed of mapping the local environment in front of a ground vehicle that employs acoustic sensors. The extent of known free space is used to generate navigation points, in the form of a subgoal and avoidance points, which may be used by another process to generate a path. The map information is also used to steer the sensors to areas of the environment that require further investigation. In consistencies in sensor returns are resolved with multiple sensor scans.