DocumentCode :
1611646
Title :
Thinning-based Topological Exploration in Dynamic Environments
Author :
Kwon, Tae-Bum ; Lee, Yong-Ju ; Song, Jae-Bok ; Chung, Woojin
Author_Institution :
Dept. of Mech. Eng., Korea Univ., Seoul
fYear :
2006
Firstpage :
5378
Lastpage :
5383
Abstract :
For navigation of a service robot, mapping and localization are very important and essential abilities of the robot. Mapping is the task of modeling a robot´s environment and localization is the process of determining the position and orientation of a robot with respect to the global map. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a grid map is built using the range sensor data and then a topological map is constructed in real time using the thinning-based approach. From the position probability, a robot can determine whether or not it needs to visit the specific end node to examine the environment. And the robot can choose which end node is the next target. The robot can also estimate how much of the environment is explored by observing their position probabilities. The edges of the topological map can also be used for navigation path without additional path planning. This method can generate obstacle free paths even in the dynamic environment. Various experiments show that the proposed scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere. It is shown that the exploration can work safely and stably in the dynamic environment
Keywords :
mobile robots; path planning; probability; path planning; probability; wheeled mobile robot; Haptic interfaces; Intelligent robots; Mechanical engineering; Mobile robots; Navigation; Orbital robotics; Path planning; Robot sensing systems; Service robots; Space exploration; Exploration; Thinning-based Topological Exploration; Thinning-based Topological Map;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
Type :
conf
DOI :
10.1109/SICE.2006.315463
Filename :
4108742
Link To Document :
بازگشت