Autonomous Navigation and Mapping for Mobile Robot in Unknown Environment Using Line Segments

Abstract

Used widely in military and civil applications, autonomous robots have shown promising in planet exploration, seabed survey, and disaster rescue. A lot of robotic research concentrates on localization and mapping dealing with the basic problems in robotic research: “Where I am?” and “How is the environment like?”. The two problems consist a coupled problem named Simultaneous Localization and Mapping (SLAM) in unknown environment exploration. This problem is summarized by Hugh D. Whyte in his paper published in 1991 [1]. Forced by requirement of motion in unknown environment, many researchers in robotics make efforts to solve SLAM problem in recent decades.

Advances in sensing and processing methods for three-dimensional robot vision

“…131 In the field of robot location and navigation, 132,133 SLAM can be used for environment map building. 134 Based on this map, the robots can perform path planning, 135 autonomous searching, and navigation tasks. 136 3D sensing methods…”