Navigation in hybrid metric-topological maps

Navigation in hybrid metric-topological maps

We present an approach for navigation in hybrid maps consisting of a topological graph overlaid with local occupancy grids. The topological graph is built on top of a graph SLAM system, which can be efficiently optimized even for very large environments. The novel feature of our system is that it na...

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Bibliographic Details
Published in:2011 IEEE International Conference on Robotics and Automation pp. 3041 - 3047
Main Authors: Konolige, K., Marder-Eppstein, E., Marthi, B.
Format: Conference Proceeding
Language:English
Published: IEEE 01-05-2011
Subjects:
Measurement
Navigation
Planning
Robot kinematics
Simultaneous localization and mapping
Online Access:Get full text
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Summary:We present an approach for navigation in hybrid maps consisting of a topological graph overlaid with local occupancy grids. The topological graph is built on top of a graph SLAM system, which can be efficiently optimized even for very large environments. The novel feature of our system is that it navigates locally using local metric maps, while the overall plan is formed on the topological graph. Unlike many current SLAM methods, we never reconstruct a full occupancy grid of the environment for localization or path planning. We show that our method generates near-optimal plans, and deals gracefully with changes to the map.
ISBN:9781612843865
1612843867
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5980074