Title :
A topological approach of path planning for autonomous robot navigation in dynamic environments
Author :
Abraham, Aswin Thomas ; Shuzhi Sam Ge ; Tao, Pey Yuen
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
This paper proposes a novel approach, Simultaneous Path Planning and Topological Mapping (SP2ATM), to address the problem of path planning by registering the topology of the perceived dynamic environment as opposed to the conventional grid representation. The local topology is encoded, concurrent and incremental with path planning, by extracting only the admissible free space. The resulting Admissible Space Topological Map (ASTM) then serves as the minimum information to facilitate path planning in the 3D configuration space. Experimental results obtained from our mobile robot X1 in a complex planar environment, validates completeness and optimality of the algorithm.
Keywords :
mobile robots; navigation; path planning; admissible space topological map; autonomous robot navigation; dynamic environment; mobile robot XI; simultaneous path planning; topological mapping; Data mining; Intelligent robots; Mobile robots; Navigation; Orbital robotics; Path planning; Simultaneous localization and mapping; Topology; Tree graphs; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354771