Publication

An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling

Roland Siegwart, Nicola Tomatis, Kai Oliver Arras, Karim Abdelnour
2001
Conference Papers

Abstract

In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract lines for the metric localization and doors, discontinuities and hallways for the topological approach. The approach has been widely tested in a 50 x 25 m portion of the institute building with the new fully autonomous robot Donald Duck. 25 randomly generated test missions have been performed with a success ratio of 96% and a mean error at the goal point of 9 mm for an overall trajectory length of 1.15 km. Future work will focus on a similar hybrid approach for simultaneous localization and automatic mapping.

Official source

https://infoscience.epfl.ch/entities/publication/7eda4d4e-415f-4548-87a4-f8ab5e64e4cc

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Roland Siegwart, Nicola Tomatis, Kai Oliver Arras, Karim Abdelnour
2001
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/7eda4d4e-415f-4548-87a4-f8ab5e64e4cc

About this result

Related concepts (32)

Simultaneous localization and mapping

Simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken or the egg problem, there are several algorithms known to solve it in, at least approximately, tractable time for certain environments. Popular approximate solution methods include the particle filter, extended Kalman filter, covariance intersection, and GraphSLAM.

Robotic mapping

Robotic mapping is a discipline related to computer vision and cartography. The goal for an autonomous robot is to be able to construct (or use) a map (outdoor use) or floor plan (indoor use) and to localize itself and its recharging bases or beacons in it. Robotic mapping is that branch which deals with the study and application of ability to localize itself in a map / plan and sometimes to construct the map or floor plan by the autonomous robot. Evolutionarily shaped blind action may suffice to keep some animals alive.

Hybrid vehicle

A hybrid vehicle is one that uses two or more distinct types of power, such as submarines that use diesel when surfaced and batteries when submerged. Other means to store energy include pressurized fluid in hydraulic hybrids. Hybrid powertrains are designed to switch from one power source to another to maximize both fuel efficiency and energy efficiency. In hybrid electric vehicles, for instance, the electric motor is more efficient at producing torque, or turning power, while the combustion engine is better for maintaining high speed.

Related publications (2)

An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling

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