Using CAD drawings for robot navigation

Exploration and navigation of an environment by a robot usually involves the steps of mapping, localization and path planning. Here we look at the problem of navigation in an environment about which the robot has some a priori information available, namely in the form of an architectural CAD drawing. The CAD drawing is utilized to obtain: (i) a topological map of the environment which is used for large scale path planning between regions in the environment and (ii) a skeleton of each region in the environment for path planning within regions. We then propose that a hierarchy of representations consisting of the topological map, skeleton and a reactive hazard-avoidance control system can be used effectively for navigation and exploration by a robot