Behavioral navigation on topology-based maps
E. Fabrizi and A. Saffiotti
In order to plan behavior-based navigation strategies, a mobile robot
needs information about the connectivity of the space, and about those
geometric properties that allow the selection of the adequate behavior
in each area. We propose to represent this information by a
topology-based map, a graph that encodes the topological
structure of the free space in the environment, in which nodes
represent large open spaces and arcs represent passages between them.
In this paper, we show how to extract a topology-based map from a
fuzzy occupancy grid using image processing techniques, and how to use
this map for planning behavioral navigation. We illustrate our
technique by giving an example of office navigation on a real robot.