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Building globally c...
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Duckett, TomÖrebro universitet,Institutionen för teknik,Learning Systems Lab
(author)
Building globally consistent gridmaps from topologies
- Article/chapterEnglish2000
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LIBRIS-ID:oai:DiVA.org:oru-3944
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https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-3944URI
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Language:English
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Summary in:English
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Subject category:ref swepub-contenttype
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Subject category:kon swepub-publicationtype
Notes
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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.
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Saffiotti, AlessandroÖrebro universitet,Institutionen för teknik,Mobile Robotics Lab(Swepub:oru)asaffio
(author)
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Örebro universitetInstitutionen för teknik
(creator_code:org_t)
Related titles
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In:Proceedings of the 6th international symposium on robot control, s. 357-361
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