language: en

Middle Scale Robot Navigation A Case Study

Carl Owen and Ulrich Nehmzow
Department of Computer Science University of Manchester
Manchester M13 9PL United Kingdom
owenc@cs.man.ac.uk u.nehmzow@cs.man.ac.uk 7/4/97

Abstract In this paper we present results of experiments carried out with a route learning system for a mobile robot, conducted in a `real world' environment covering distances of several hundred metres. The system uses no odometry and is based on a self-organising mapbuilding process using perceptual landmarks. A performance metric is defined and used to measure the robot's ability to traverse the route.

1 Introduction