Passframe Network — combined operating environment model for a mobile robot

The paper describes an internal information presentation for controlling movements of an autonomous mobile robot RB-2. It proposes a model of mobile robot operating environment that combines metric, topological and semantic models. The model proposes a term Passframe as a key element and describes its structure and main features. An operating environment model's structure is presented as a network of Passframes. Data received from a laser scanner provides input to an algorithm for building individual Passframes as well as the network as a whole. This paper describes a procedure for planning robot's movements between a starting point and a target. All motion planning algorithms, presented in this paper, have been implemented in RB-2's movement control software.