Using incomplete online metric maps for topological exploration with the Gap Navigation Tree
Murphy, Liz & Newman, Paul (2008) Using incomplete online metric maps for topological exploration with the Gap Navigation Tree. In Schaal , S & Sukhatme, G.S. (Eds.) 2008 IEEE International Conference on Robotics and Automation, IEEE Computer Society, Pasadena, CA , pp. 2792-2797.
This paper presents a general, global approach to the problem of robot exploration, utilizing a topological data structure to guide an underlying Simultaneous Localization and Mapping (SLAM) process. A Gap Navigation Tree (GNT) is used to motivate global target selection and occluded regions of the environment (called “gaps”) are tracked probabilistically. The process of map construction and the motion of the vehicle alters both the shape and location of these regions. The use of online mapping is shown to reduce the difficulties in implementing the GNT.
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|Item Type:||Conference Paper|
|Keywords:||Covariance matrix, Uncertainty , Tree data structures , Space exploration , Simultaneous localization and mapping, Mobile robots, Navigation , Robotics and automation, Entropy, Data mining|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||03 Feb 2012 12:18|
|Last Modified:||01 Mar 2012 00:35|
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