engleski

Improvement of Map Building during the Exploration of Polygonal Environments using the Range Data

In this paper we consider problem of exploration and mapping of unknown polygonal environments. To construct a map of unknown environment we first must have exploration algorithm, and we have to choose a map representation method. In this paper we combined weighted line fitting algorithms with exploration of polygonal environment using range data. The algorithms were tested using a Pioneer 3DX mobile robot equipped with laser range finder.

Exploration; mapping; line fitting; mobile robotics

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