Hybrid mapping for autonomous mobile robot exploration
Hybrid maps combining several approaches to store robot's interpretation about its working environments are getting popular nowadays. The paper deals with a novel approach to hybrid maps that is based on fixed-size interconnected occupancy grids organized in a topological graph. The presented m...
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| Autores principales: | , , , |
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| Formato: | CONF |
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| Acceso en línea: | http://hdl.handle.net/20.500.12110/paper_97814577_v1_n_p299_Nitsche |
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| Sumario: | Hybrid maps combining several approaches to store robot's interpretation about its working environments are getting popular nowadays. The paper deals with a novel approach to hybrid maps that is based on fixed-size interconnected occupancy grids organized in a topological graph. The presented mapping approach is employed in the exploration scenario, where the map is built from scratch and used for both local and global path-planning, and goal selection. Feasibility of the approach has been validated by a set of experiments in the Player/Stage system [1]. © 2011 IEEE. |
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