期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2012
卷号：9
期号：5
出版社：IJCSI Press
摘要：The paper proposes a framework for building a semantic map for indoor environment using a mobile robot. The framework includes five main modules which are: 1) Raw and spatial data acquisition module, 2)Steering and exploration module, 3)Information detection and extraction module, 4)Semantic knowledge mapping module and 5) High level task planner interface. The framework will be implemented on the ATRV-Mini robot. A simulation and control environment has been developed for this purpose. The steering and exploration module and the tasks responsible for the spatial data acquisition using sonar sensors and constructing a sonar occupancy map have been developed. The simulation results showed that the ATRV-mini robot is capable of learning metric maps of potential navigation areas.
