EXTRACTING TOPOLOGICAL INFORMATION FROM GRID MAPS FOR ROBOT NAVIGATION

David Portugal, Rui P. Rocha

2012

Abstract

In many robotic navigation-related tasks, abstracting the environment where mobile robots carry out some mission can be of a great benefit. In particular, extracting a simple topological graph-like representation from a more complex and detailed metric map is often required for path-planning and navigation. In this work, an approach to perform such extraction in grid maps is presented. The focus is not only on obtaining a diagram or visual representation of possible paths, but also to propose a new way to obtain graph data information related to the connectivity of the environment that can be passed to robots or to a centralized planner, in order to assist the navigation task. The approach proposed is based on image processing techniques. Simulation results prove its simplicity, accuracy and efficiency.

Paper Citation

in Harvard Style

Portugal D. and P. Rocha R. (2012). EXTRACTING TOPOLOGICAL INFORMATION FROM GRID MAPS FOR ROBOT NAVIGATION . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8425-95-9, pages 137-143. DOI: 10.5220/0003746401370143

in Bibtex Style

@conference{icaart12,
author={David Portugal and Rui P. Rocha},
title={EXTRACTING TOPOLOGICAL INFORMATION FROM GRID MAPS FOR ROBOT NAVIGATION},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2012},
pages={137-143},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003746401370143},
isbn={978-989-8425-95-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - EXTRACTING TOPOLOGICAL INFORMATION FROM GRID MAPS FOR ROBOT NAVIGATION
SN - 978-989-8425-95-9
AU - Portugal D.
AU - P. Rocha R.
PY - 2012
SP - 137
EP - 143
DO - 10.5220/0003746401370143