Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation

Ge, Shuzhi Sam; Zhang, Qun; Abraham, Aswin Thomas; Rebsamen, Brice

doi:10.1016/j.robot.2010.12.003

Cited by 33 publications

(20 citation statements)

References 32 publications

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“…Simultaneously Voronoi Diagram is generated to express completely and divide the environment into this basis, the region division of global to achieved integrating spectral clustering matching information of SIFT feature experimental results verify the feasibility an presented method. For future work, impro 6 The Generation of Topology-based Voronoi Diagram established and l nodes clustering based on spectral ment, SIFT feature rrors and the error efore, in order to odes is introduced presented similar ed region division n different colors connect different re associated. As map is divided tering center.…”

Section: B Experimental Resultsmentioning

confidence: 99%

“…One is the another one is a gy-based Voronoi is the core of this division based on process of the implementation of the algorithm, relative pose of each robot is unknow flowchart of the system. Autonomous exploration is one technologies for mobile robot s Admissible Space Tree (AST) [6] [ path planning and completing explo lies in that it is based on a con construction of the map in unknow exploration procedure is perform topological nodes.…”

Section: Exploration Algoritmentioning

confidence: 99%

“…, } i T A S Vor p = ble nodes may be erated in every criterion for easier e nodes which are le nodes may not les [6] are used to e nodes in current est topology node es. Bellman-Ford m current nodes to The Bellman-Ford g more easy to be…”

Section: Rg-04lx Lasermentioning

confidence: 99%

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A hierarchical approach to region division for mobile robot based on spectral cluster

Jia

Xue

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper presents a hierarchical method of region division for mobile robot system based on spectral clustering algorithm. Firstly, to improve the exploration efficiency, topological map is constructed incrementally using a hybrid map model with grid-topplogy structure. And then, topology-based Voronoi Diagram is introduced to divide the map and express the whole environment uniquely. Meanwhile, Scale-Invariant Feature Transform (SIFT) feature is extracted to relate to different nodes, and RANdom SAmple Consensus (RANSAC) algorithm is integrated to optimize matching results. On this basis, an undirected weighted graph is built and the spectral clustering theory based on SIFT matching information is adopted to partition global topologycal map and realize region division. The paper details the architecture of the presented method and gives some experiments to verify the effectiveness.

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Section: B Experimental Resultsmentioning

confidence: 99%

Section: Exploration Algoritmentioning

confidence: 99%

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A hierarchical approach to region division for mobile robot based on spectral cluster

Jia

Xue

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…W is the minimum passable width according to the robot width. [8] 4) According to the passable section of each layer, the passable space can be found in current laser scanning range, denoted as Si, and the path planning can be achieved. 5) Regard the passable node of outermost layer as possible node Pi.…”

Section: B Acquire Possible Nodementioning

confidence: 99%

“…As shown in Fig 4, it express four moment in mapping process. In study of the SP 2 ATM algorithm [8], the robot exploration contains multiple backtracking processeses. On the one hand, it reduce the exploration efficiency.…”

Section: A Exploration Experimentsmentioning

confidence: 99%

Environment exploration and recognition for mobile robot using immune algorithm and objectness measure

Jia

Xue

2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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In order to complete a service task more efficiently, robot needs to create a map quickly and recognize objects during this process. In this paper, a novel mapping method is proposed to address this problem. Firstly, Admissible Space Tree is generated to acquire possible node. Then, immune algorithm is applied for its advantages such as diversity, dynamic, parallel management and self-adaptation. And antibody affinity is constructed to select optimal path. Meanwhile, robot recognizes key objects on its way to get the semantic information. To achieve this purpose, normed gradients feature has been extracted to describe the object windows. It is based on just a few training images and also has the ability to learn incrementally. Subsequently, three support vector machines are respectively used for objectness estimation and object types detection. Experimental results demonstrate that the presented method can build a semantic map more efficient, which verifies the feasibility of proposed algorithm.

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Autonomous Hierarchy Creation for Path Planning of Mobile Robots in Large Environments

Gregorić

Seder

Petrović

2023

Intelligent Autonomous Systems 17

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Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation

Cited by 33 publications

References 32 publications

A hierarchical approach to region division for mobile robot based on spectral cluster

A hierarchical approach to region division for mobile robot based on spectral cluster

Environment exploration and recognition for mobile robot using immune algorithm and objectness measure

Autonomous Hierarchy Creation for Path Planning of Mobile Robots in Large Environments

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