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Conference Paper
Preliminary Study on the Environment Map for Mobile Robots
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- Authors
- Seung Hwan Park, Yu Cheol Lee, Moon Hoen Lee, San Gik Na, Won Pil Yu
- Issue Date
- 2006-10
- Citation
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2006, pp.107-112
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- Generally, a robot needs the spatial data or map to offer services to a human. As a human want to receive more intelligent services from a robot, it is required that the concept of the environment map should be extended with considering the properties of a human and a robot. In this paper, the environment map is subdivided according to the subjects and the related map categories are proposed. Function Map, which is used for the motion of a robot, and Interface Map, which is used for the convenience of a human, are defined firstly. For the connection of these two maps, Interaction Map is also designated. Each 'Space,' which is defined as the minimum unit of the spatial environment, has a map set composed by these three kinds of map. This set is treated as '0-layer' maps. Another map is needed for the management of the 0-layer maps and for the task accomplishment among 'Spaces.' Network Map is introduced for this purpose and it is treated as the '1-Layer' map. The organized operation of the robot services can be achieved using this hierarchical map system.