Tom Duckett and Alessandro Saffiotti
Building Globally Consistent Gridmaps from Topologies
Proc. SYROCO'00, 6th Int. IFAC Symposium on Robot Control
This paper addresses the problem of recovering metric consistency
in a global gridmap for mobile robot navigation in large-scale
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.
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