Szabó Richárd: Combining metric and topological navigation of simulated robots. In: Acta cybernetica, (17) 2. pp. 401-417. (2005)
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Abstract
Mobile robotics and robot navigation is a growing area of scientific research. Robot simulators are useful designing and analizing tools of this domain. Webots [1] is a well-known representant of these programs, a three-dimensional mobile robot simulator. Various guidance principles can be developed in C/C++ or Java programming language with the use of Webots controller programs. In this paper a short overview is given about the problems arising in the process of the navigation, and a short taxonomy is presented about the possible problem solving methods [2]. A brief introduction to the probabilistic navigation techniques concerning Kalman filter and expectation maximization is included with a special focus on occupancy grid. Formerly I presented a metric navigation method based on occupancy grid working in the Webots simulation environment [3]. As a continuation of that research I created an enhancement of the former processes, a hybrid metric-topological navigation mechanism. A topologic layer is introduced in the environment exploration phase replacing the older value iteration [4]. The implementation of a topologic graph of the explorable places using the metric map enables the robot to navigate in a more efficient manner. A comparison of the pure metric and the new hybrid methods is also given.
| Item Type: | Article |
|---|---|
| Journal or Publication Title: | Acta cybernetica |
| Date: | 2005 |
| Volume: | 17 |
| Number: | 2 |
| ISSN: | 0324-721X |
| Page Range: | pp. 401-417 |
| Language: | English |
| Place of Publication: | Szeged |
| Event Title: | Conference for PhD Students in Computer Science (4.) (2004) (Szeged) |
| Related URLs: | http://acta.bibl.u-szeged.hu/38520/ |
| Uncontrolled Keywords: | Számítástechnika, Kibernetika |
| Additional Information: | Bibliogr.: p. 416-417. ; összefoglalás angol nyelven |
| Subjects: | 01. Natural sciences 01. Natural sciences > 01.02. Computer and information sciences |
| Date Deposited: | 2016. Oct. 15. 12:25 |
| Last Modified: | 2022. Jun. 15. 12:55 |
| URI: | http://acta.bibl.u-szeged.hu/id/eprint/12773 |
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