Combining configuration space and occupancy grid for robot navigation
This article introduces a map generation algorithm that combines configuration space and occupancy grid approaches. This algorithm is suitable for a mobile robot system with local sensors for positioning. Global positioning is not required. The algorithm will generate a driving path for the robot to explore the unknown environment around it. A version of the DistBug algorithm is used to determine routes around obstacles. The algorithm can deal with imperfect distance sensors and localization errors.
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