A Mobile Robot Navigation System using a Map-Building Based Approach
This paper addresses a goal based navigation system relies on a map-building approach and employs a depth
camera as the primary sensor. A Kinect camera, using an appearance based approach, is employed to search and detect the goal
while building a map of the environment. As well as, a simple but efficient searching behavior is developed so as to reduce
overall searching time for the goals placed in unknown and particularly cluttered environments. The system is integrated into a
physical robot and a series of experiments were achieved to verify the overall performance of the system.
Keywords - Vision Based Navigation, Random Exploration, Map-Building, Gmapping.