Practical indoor mobile robot navigation 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


This paper 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 2D
occupancy grids by a range sensor 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-topological maps is 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 method is implemented successfully on a physical robot and evaluated in a hospital environment.
Original languageEnglish
Title of host publicationProceedings of the 2011 IEEE International Conference on Mechatronics
Publication date2011
Publication statusPublished - 2011
EventMechatronics (ICM) - Istanbul, Turkey
Duration: 13 Apr 201115 Apr 2011


ConferenceMechatronics (ICM)

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