Vision-Based Motion Planning and Exploration Algorithms for Mobile Robots

Camillo J. Taylor, David J. Kriegman

Workshop on the Algorithmic Foundations of Robotics, Feb, 1994, A. K. Peters, Boston, MA.


This paper focuses on the problem of designing algorithms that would enable a mobile robot equipped with a visual recognition system to carry out a systematic exploration of an unfamiliar environment in search of one or more recognizable targets. As a by-product of this exploration process, the algorithm constructs a representation of the environment that the robot can use in future navigation tasks. One of the main advantages of the proposed algorithm is that the robot is not required to accurately determine its absolute position in a global frame of reference. This algorithm has been implemented on our mobile robot platform RJ, and results from these experiments are presented.