Title :
Using incomplete online metric maps for topological exploration with the Gap Navigation Tree
Author :
Murphy, Liz ; Newman, Paul
Author_Institution :
Oxford Mobile Robot. Res. Group, Oxford
Abstract :
This paper presents a general, global approach to the problem of robot exploration, utilizing a topological data structure to guide an underlying Simultaneous Localization and Mapping (SLAM) process. A Gap Navigation Tree (GNT) is used to motivate global target selection and occluded regions of the environment (called "gaps") are tracked probabilistically. The process of map construction and the motion of the vehicle alters both the shape and location of these regions. The use of online mapping is shown to reduce the difficulties in implementing the GNT.
Keywords :
SLAM (robots); mobile robots; path planning; probability; tree data structures; trees (mathematics); SLAM; gap navigation tree; global target selection; incomplete online metric map; mobile robot exploration; occluded region; probability; simultaneous localization and mapping process; topological data structure; Covariance matrix; Data mining; Entropy; Mobile robots; Navigation; Robotics and automation; Simultaneous localization and mapping; Space exploration; Tree data structures; Uncertainty;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543633