Thomas Edlinger, Gerhard Weiß

• In this paper the autonomous mobile vehicle MOBOT-IV is presented, which is capable of exploring an indoor-environment while building up an internal representation of its world. This internal model is used for the navigation of the vehicle during and after the exploration phase. In contrast to methods, which use a grid based or line based environment representation, in the approach presented in this paper, local sector maps are the basic data structure of the world model. This paper describes the method of the view-point-planning for map building, the use of this map for navigation and the method of external position estimation including the hand- ling of an position error in a moving real-time system.