Combining metric and topological navigation of simulated robots
Mobile robotics and robot navigation is a growing area of scientific research. Robot simulators are useful designing and analizing tools of this domain. Webots [1] is a well-known representant of these programs, a three-dimensional mobile robot simulator. Various guidance principles can be developed...
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| Dokumentumtípus: | Cikk |
| Megjelent: |
2005
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| Sorozat: | Acta cybernetica
17 No. 2 |
| Kulcsszavak: | Számítástechnika, Kibernetika |
| Tárgyszavak: | |
| Online Access: | http://acta.bibl.u-szeged.hu/12773 |
| Tartalmi kivonat: | Mobile robotics and robot navigation is a growing area of scientific research. Robot simulators are useful designing and analizing tools of this domain. Webots [1] is a well-known representant of these programs, a three-dimensional mobile robot simulator. Various guidance principles can be developed in C/C++ or Java programming language with the use of Webots controller programs. In this paper a short overview is given about the problems arising in the process of the navigation, and a short taxonomy is presented about the possible problem solving methods [2]. A brief introduction to the probabilistic navigation techniques concerning Kalman filter and expectation maximization is included with a special focus on occupancy grid. Formerly I presented a metric navigation method based on occupancy grid working in the Webots simulation environment [3]. As a continuation of that research I created an enhancement of the former processes, a hybrid metric-topological navigation mechanism. A topologic layer is introduced in the environment exploration phase replacing the older value iteration [4]. The implementation of a topologic graph of the explorable places using the metric map enables the robot to navigate in a more efficient manner. A comparison of the pure metric and the new hybrid methods is also given. |
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| Terjedelem/Fizikai jellemzők: | 401-417 |
| ISSN: | 0324-721X |