ICRA 2011 Paper Abstract

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Paper WeA203.1

Konolige, Kurt (Willow Garage), Marder-Eppstein, Eitan (Willow Garage), Marthi, Bhaskara (Willow Garage)

Navigation in Hybrid Metric-Topological Maps

Scheduled for presentation during the Regular Sessions "Autonomous Navigation IV" (WeA203), Wednesday, May 11, 2011, 10:05−10:20, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Autonomous Navigation, SLAM

Abstract

We present an approach for navigation in hybrid maps consisting of a topological graph overlaid with local occupancy grids. The topological graph is built on top of a graph SLAM system, which can be efficiently optimized even for very large environments. The novel feature of our system is that it navigates locally using local metric maps, while the overall plan is formed on the topological graph. Unlike many current SLAM methods, we never reconstruct a full occupancy grid of the environment for localization or path planning. We show that our method generates near-optimal plans, and deals gracefully with changes to the map.

 

 

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