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Building globally c...
Building globally consistent gridmaps from topologies
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- Duckett, Tom (författare)
- Örebro universitet,Institutionen för teknik,Learning Systems Lab
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- Saffiotti, Alessandro (författare)
- Örebro universitet,Institutionen för teknik,Mobile Robotics Lab
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(creator_code:org_t)
- 2000
- 2000
- Engelska.
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Ingår i: Proceedings of the 6th international symposium on robot control. ; , s. 357-361
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation. Gridmaps can only be updated consistently using exact estimates of the robot position, a requirement which is very hard to fulfil in real world environments because the same sensor data must be used for both map building and self-localisation. To overcome this problem, we use a hierarchy of robot maps which integrates topological and grid-based representations. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the robot's map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot are presented which demonstrate the efficacy of our approach.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Datalogi
- Computer and Systems Science
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)