Name
Title | ||
|---|---|---|
A Hybrid Approach For Robust And Precise Mobile Robot Navigation With Compact Environment Modeling |
Abstract | ||
|---|---|---|
In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness, The method uses a 360 degree laser scanner in order to extract lines,for the metric localization and doors, discontinuities and hallways for the topological approach. The approach has been widely tested in a 50 x 25 in portion of the institute building with the new fully autonomous robot Donald Duck. 25 randomly, generated test missions have been pe formed with a success ratio of 96% and a mean error at the goal point of 9 mm for an overall trajectory length of 1.15 kin. Future work will focus on a similar hybrid approach for simultaneous localization and automatic mapping. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.932760 | 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS |
Keywords | Field | DocType |
navigation,mobile robots,localization,mean error,robustness,kalman filters,path planning,topology,testing,mobile robot,mobile robot navigation | Motion planning,Computer vision,Robot control,Metric map,Robustness (computer science),Control engineering,Artificial intelligence,Topological map,Mobile robot navigation,Engineering,Autonomous robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
Citations | PageRank | References |
12 | 1.20 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicola Tomatis | 1 | 699 | 51.47 |
| Illah Nourbakhsh | 2 | 2464 | 294.80 |
| Kai O. Arras | 3 | 998 | 81.80 |
| Roland Siegwart | 4 | 7640 | 551.49 |