On autonomous terrain model acquisition by a mobile robot
The following problem is considered: A point robot is placed in a terrain populated by unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on 'scan from vertices' strategy is given by ..sigma../sub i = 1/sup n/N(O/sub i/) - n and ..sigma../sub i = 1/sup n/N(O/sub i/) - 2n in two and three dimensional terrains respectively, where O = )O/sub 1/,O/sub 2/,...,O/sub n/) set of the obstacles in the terrain, and N(O/sub i/) is the number of vertices of the obstacle O/sub i/.
- Research Organization:
- Louisiana State Univ., Baton Rouge (USA). Dept. of Computer Science; Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6770464
- Report Number(s):
- CONF-870134-2; CESAR-86/59; ON: DE87005719
- Country of Publication:
- United States
- Language:
- English
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