Tom Duckett and Alessandro Saffiotti

Building Globally Consistent Gridmaps from Topologies

Proc. SYROCO'00, 6th Int. IFAC Symposium on Robot Control



Abstract

This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation in large-scale environments. A hierarchy of robot maps is proposed which integrates topological and grid-based representations at different levels of abstraction. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot in a large, real world environment demonstrate the effectiveness of the approach.

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Bibtex

@INPROCEEDINGS{DuckettSYRO00,
  AUTHOR = "Tom Duckett and Alessandro Saffiotti",
  TITLE = "Building Globally Consistent Gridmaps from Topologies",
  BOOKTITLE = "Proc. SYROCO'00, 6th Int. IFAC Symposium on Robot Control",
  PUBLISHER = "Elsevier",
  YEAR = 2000
}