Empirical evaluation of a practical indoor mobile robot navigation method using hybrid maps

Ali Gürcan Özkil, Zhun Fan, Jizhong Xiao, Jens Klæstrup Kristensen, Steen Dawids, Kim Hardam Christensen, Henrik Aanæs

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This video presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as occupancy grids by a laser range finder to represent local information about partial areas. The global topological map is
used to indicate the connectivity of the ‘places-of-interests’ in the environment and the interconnectivity of the local maps.
Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization.
The navigation scheme based on the hybrid metric-topologica maps saves memory space and is also scalable and adaptable since new local maps can be easily added to the global topology, and the method can be deployed with minimum amount of modification if new areas are to be explored. The video demonstrated that the method is implemented successfully on physical robot in a hospital environment, which provides a practical solution for indoor navigation.
Original languageEnglish
Title of host publicationProceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication date2010
Pages2521-2522
Publication statusPublished - 2010
Event2010 IEEE/RSJ International Conference on Intelligent Robots and Systems - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Nov 2010

Conference

Conference2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryTaiwan, Province of China
CityTaipei
Period18/10/201022/11/2010

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