Retrieving
Topological Information for
Joaquim Filipe and Ana Fred
(editors), Agents and Artificial Intelligence, Communications in Computer and
Information Science (CCIS) series, vol. 358, Springer-Verlag Berlin Heidelberg,
ISBN 978-3-642-36906-3, pp. 204–217, 2013.
In the context of mobile robotics, it is crucial for
the robot to have a consistent representation of the surrounding area. However,
common grid maps used in robotics do not provide any evidence as to connectivity,
making it harder to
find appropriate paths to particular points on the site. Therefore, abstracting
the environment where mobile robots carry out some mission can be of a great
benefit. Topological maps have been increasingly used in robotics, because they
are fairly simple and an extremely intuitive representation for tasks that involve
path planning. In this article, a method for retrieving a topological map from
an a priori generic grid map of the environment is presented. Beyond extracting
a 2D diagram which portrays the topology of the infra-structure, the focus is
placed on obtaining graph-like data related to the connectivity of important
points in the area, that can be passed on to robots or to a centralized
planner, in order to assist the navigation task. The proposed method is further
elaborated in detail and its results prove the simplicity, accuracy and efficiency
of the approach. Keywords: Robot Navigation, Graphs, Topological Maps, Voronoi
Diagrams.
Index Terms — Robot navigation, graphs, topological maps, Voronoi diagrams.
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@INCOLLECTION(Portugal_et_al_13a,
AUTHOR = "
TITLE
= "Retrieving Topological Information for
BOOKTITLE = "Agents and Artificial Intelligence, Communications in Computer and Information Science (CCIS) series",
PUBLISHER
= "
YEAR = "2013",
EDITOR = "Filipe, Joaquim and Fred,
Ana",
PAGES = "204-217"
)
Last update:
Copyright © 2013 Rui P. Rocha, Dep. of Electrical and
Computer Engineering,