EXTRACTING TOPOLOGICAL INFORMATION FROM GRID MAPS FOR ROBOT NAVIGATION

David Portugal, Rui P. Rocha

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.

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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