ICRA 2012 Paper Abstract

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Paper TuA05.4

Park, Byungjae (POSTECH), Choi, Jinwoo (POSTECH), Chung, Wan Kyun (POSTECH)

An Efficient Mobile Robot Path Planning Using Hierarchical Roadmap Representation in Indoor Environment

Scheduled for presentation during the Regular Session "Path Planning and Navigation" (TuA05), Tuesday, May 15, 2012, 09:15−09:30, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Mapping, Autonomous Navigation, Service Robots

Abstract

This paper describes a practical approach to solve a path planning problem in a home environment. The proposed approach incrementally constructs the hierarchical roadmap which has a multi-layered structure using a sonar grid map when a mobile robot navigates in unexplored area. The hierarchical roadmap can almost completely cover the traversable areas in the environment. The mobile robot path planner using the hierarchical roadmap can efficiently search for appropriate paths under the limited computing power and time by reducing the search space size. The benefits of the hierarchical roadmap representation were verified by experiments in a home environment.

 

 

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