Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM
The generalized Voronoi graph (GVG) is a topological representation of an environment that can be incrementally constructed with a mobile robot using sensor-based control. However, because of sensor range limitations, the GVG control law will fail when the robot moves into a large open area. This paper discusses an extended GVG approach to topological navigation and mapping: the saturated generalized Voronoi graph (S-GVG), for which the robot employs an additional wall-following behavior to navigate along obstacles at the range limit of the sensor. In this paper, we build upon previous work related to the S-GVG and provide two important contributions: 1) a rigorous discussion of the control laws and algorithm modifications that are necessary for incremental construction of the S-GVG with a mobile robot, and 2) a method for incorporating the S-GVG into a novel multi-hypothesis SLAM algorithm for loop-closing and localization. Experiments with a wheeled mobile robot in an office-like environment validate the effectiveness of the proposed approach.
Tong Tao Stephen Tully George Kantor Howie Choset
College of Information Technical Science,Nankai University,Tianjin 300071,China Electrical and Computer Engineering Department Robotics Institute at Carnegie Mellon University,Pittsburgh,PA 15213,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3072-3077
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）