Title :
Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
Author :
Choset, Howie ; Nagatani, Keiji
Author_Institution :
Dept. of Mech. Eng. & Robotics, Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
4/1/2001 12:00:00 AM
Abstract :
This paper presents a new method for simultaneous localization and mapping that exploits the topology of the robot´s free space to localize the robot on a partially constructed map. The topology of the environment is encoded in a topological map; the particular topological map used in this paper is the generalized Voronoi graph (GVG), which also encodes some metric information about the robot´s environment, as well. In this paper, we present the low-level control laws that generate the GVG edges and nodes, thereby allowing for exploration of an unknown space. With these prescribed control laws, the GVG can be viewed as an arbitrator for a hybrid control system that determines when to invoke a particular low-level controller from a set of controllers all working toward the high-level capability of mobile robot exploration. The main contribution, however, is using the graph structure of the GVG, via a graph matching process, to localize the robot. Experimental results verify the described work
Keywords :
computational geometry; mobile robots; navigation; path planning; pattern matching; position control; topology; Voronoi graph; graph matching; mobile robot; motion planning; navigation; robot free space; simultaneous localization; topological map; topology; Control systems; Global Positioning System; Mechanical engineering; Mobile robots; Orbital robotics; Robot kinematics; Robotics and automation; Simultaneous localization and mapping; Topology; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on