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Behavioral navigation on topology-based maps
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2000 (English)In: Proceedings of the 8th international symposium on robotics with applications, 2000Conference paper, Oral presentation only (Refereed)
Abstract [en]

In order to plan behavior-based navigation strategies, a mobile robot needs information about the connectivity of the space, and about those geometric properties that allow the selection of the adequate behavior in each area. We propose to represent this information by a topology-based map, a graph that encodes the topological structure of the free space in the environment, in which nodes represent large open spaces and arcs represent passages between them. In this paper, we show how to extract a topology-based map from a fuzzy occupancy grid using image processing techniques, and how to use this map for planning behavioral navigation. We illustrate our technique by giving an example of office navigation on a real robot

Place, publisher, year, edition, pages
2000.
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3945OAI: oai:DiVA.org:oru-3945DiVA, id: diva2:138244
Conference
The 8th international symposium on robotics with applications, Maui, Hawaii, USA 2000
Available from: 2007-08-15 Created: 2007-08-15 Last updated: 2018-01-13Bibliographically approved

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Saffiotti, Alessandro

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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  • Other locale
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Output format
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  • asciidoc
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