Variable-resolution state roadmap generation considering safety constraints for car-like robot

This research develops a new graph-map method for autonomous car-like mobile robots based on variable-resolution division of space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes orientation information of the car-like robot. In this manner, the robot is able to plan a path in detail. The orientation information of each node is not a fixed value but a range. The range is constructed by dividing the orientation space using variable-resolution, which is obtained from the surrounding situation of links that connect to the node. Finally, the proposed method is evaluated through simulations.