Navigation in Hybrid Metric–Topological Maps

摘要：

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.

作者: Kurt Konolige Eitan Marder-Eppstein Bhaskara Marthi

作者单位: Willow Garage,Inc.

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3041-3047

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）