Abstract:
This paper describes the design and development
of a high-speed, lightweight robot for indoor
exploration; HOMER (High-speed Obstacle
Mapping and Exploration Robot). HOMER is
designed to rapidly explore an indoor
environment and generate 2D maps, using a
stereoscopic camera as the primary range sensor.
The focus of the HOMER project is to provide a
platform for semi-autonomous exploration and
visualisation of unknown indoor environments.
HOMER has been designed with an
implementation of the Player software
architecture, making it possible to use it as a test
bed for future research into vision-based
navigation and mapping.
