Abstract:
Hybrid maps combining several approaches to store robot's interpretation about its working environments are getting popular nowadays. The paper deals with a novel approach to hybrid maps that is based on fixed-size interconnected occupancy grids organized in a topological graph. The presented mapping approach is employed in the exploration scenario, where the map is built from scratch and used for both local and global path-planning, and goal selection. Feasibility of the approach has been validated by a set of experiments in the Player/Stage system [1]. © 2011 IEEE.
Registro:
| Documento: |
Conferencia
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| Título: | Hybrid mapping for autonomous mobile robot exploration |
| Autor: | Nitsche, M.; De Cristóforis, P.; Kulich, M.; Košnar, K. |
| Ciudad: | Prague |
| Filiación: | Departamento de Computacion, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires, Argentina
Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague, Czech Republic
|
| Palabras clave: | mapping; Mobile robots; robot exploration; Autonomous Mobile Robot; Goal selection; Hybrid map; Hybrid mapping; Occupancy grids; Player/stage; robot exploration; Topological graphs; Working environment; Data acquisition; Mapping; Mobile robots; Robot programming; Topology; Intelligent robots |
| Año: | 2011
|
| Volumen: | 1
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| Página de inicio: | 299
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| Página de fin: | 304
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| DOI: |
http://dx.doi.org/10.1109/IDAACS.2011.6072761 |
| Título revista: | 6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS'2011
|
| Título revista abreviado: | Proc. IEEE Int. Conf. Intelligent Data Acquis. Adv. Comput. Syst.: Technol. Appl., IDAACS
|
| Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97814577_v1_n_p299_Nitsche |
Referencias:
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Citas:
---------- APA ----------
Nitsche, M., De Cristóforis, P., Kulich, M. & Košnar, K.
(2011)
. Hybrid mapping for autonomous mobile robot exploration. 6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS'2011, 1, 299-304.
http://dx.doi.org/10.1109/IDAACS.2011.6072761---------- CHICAGO ----------
Nitsche, M., De Cristóforis, P., Kulich, M., Košnar, K.
"Hybrid mapping for autonomous mobile robot exploration"
. 6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS'2011 1
(2011) : 299-304.
http://dx.doi.org/10.1109/IDAACS.2011.6072761---------- MLA ----------
Nitsche, M., De Cristóforis, P., Kulich, M., Košnar, K.
"Hybrid mapping for autonomous mobile robot exploration"
. 6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, IDAACS'2011, vol. 1, 2011, pp. 299-304.
http://dx.doi.org/10.1109/IDAACS.2011.6072761---------- VANCOUVER ----------
Nitsche, M., De Cristóforis, P., Kulich, M., Košnar, K. Hybrid mapping for autonomous mobile robot exploration. Proc. IEEE Int. Conf. Intelligent Data Acquis. Adv. Comput. Syst.: Technol. Appl., IDAACS. 2011;1:299-304.
http://dx.doi.org/10.1109/IDAACS.2011.6072761