An hybrid representation well-adapted to the exploration of large scale indoors environments

This paper presents a new methodology for large scale environment modelling by mobile robots. The model of the indoor environment is structured as an hybrid representation, both topological and geometrical, which is incrementally built during the exploration task. The topological aspect of the model...

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Bibliographic Details
Main Authors: Victorino, A.C., Rives, P.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Indoor environments
Large-scale systems
Mobile robots
Navigation
Orbital robotics
Robot sensing systems
Robotics
Sensor systems
Solid modeling
Telemetry
Topology
Online Access:Request full text
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Description
Summary:This paper presents a new methodology for large scale environment modelling by mobile robots. The model of the indoor environment is structured as an hybrid representation, both topological and geometrical, which is incrementally built during the exploration task. The topological aspect of the model captures the connectivity and accessibility of the different places in the environment, and the geometrical model supports a precise robot localization method and a map building of the free space. Experiments are shown which confirm the advantages of merging the topology and metrics of the environment in an hybrid model.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307506