Map interpretation in dynamic environments

Abstract

In this paper we present a navigation system for a mobile robot that is capable of operating in dynamic environments. Mapbuilding is based on landmark detection, with landmarks being established through a process of self-organisation of the robot's sensory data. The resultant map can then be used to determine, and subsequently follow, arbitrary paths through the environment. The results of several experiments carried out with a Nomad 200 mobile robot in a dynamic environment are presented.