This chapter surveys basic methods for learning maps and high speed autonomous navigation for indoor mobile robots. The methods have been developed in our lab over the past few years, and most of them have been tested thoroughly in various indoor environments. The chapter is targeted towards researchers and engineers who attempt to build reliable mobile robot navigation software.
Click here to obtain the full paper (817,334 bytes, 24 pages).
@INCOLLECTION{Thrun96h,
AUTHOR = {S. Thrun and A. B\"{u}cken and W. Burgard and D. Fox
and T. Fr{\"o}hlinghaus and D. Henning and T. Hofmann
and M. Krell and T. Schmidt},
YEAR = {1998},
TITLE = {Map Learning and High-Speed Navigation in \mbox{RHINO}},
BOOKTITLE = {AI-based Mobile Robots: Case Studies of Successful
Robot Systems},
EDITOR = {Kortenkamp, D. and Bonasso, R.P. and Murphy, R},
PUBLISHER = {MIT Press}
}