Combining metric and topological navigation of simulated robots

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: angol
Event Title: Conference for PhD Students in Computer Science, 4., 2004, Szeged
Uncontrolled Keywords: Természettudomány, Informatika
Additional Information: Bibliogr.: p. 416-417.; Abstract
Date Deposited: 2016. Oct. 15. 12:25
Last Modified: 2018. Jun. 05. 15:01
URI: http://acta.bibl.u-szeged.hu/id/eprint/12773

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