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Building globally consistent gridmaps from topologies
Örebro University, Department of Technology. (Learning Systems Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2000 (English)In: Proceedings of the 6th international symposium on robot control: IFAC - (SYROCO), 2000, p. 357-361Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2000. p. 357-361
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3944OAI: oai:DiVA.org:oru-3944DiVA, id: diva2:138243
Conference
The 6th international symposium on robot control, IFAC, (SYROCO), Wien, Austria, 2000
Available from: 2007-08-15 Created: 2007-08-15 Last updated: 2018-01-13Bibliographically approved

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http://www.aass.oru.se/Research/Robots/publications.html

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Duckett, TomSaffiotti, Alessandro

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf