Mobile robotics and robot navigation is a growing area of scientific research. Robot simulators are useful designing and analizing tools of this domain. Webots [1] is a well-known representant of these programs, a three-dimensional mobile robot simulator. Various guidance principles can be developed in C/C++ or Java programming language with the use of Webots controller programs. In this paper a short overview is given about the problems arising in the process of the navigation, and a short taxonomy is presented about the possible problem solving methods [2]. A brief introduction to the probabilistic navigation techniques concerning Kalman filter and expectation maximization is included with a special focus on occupancy grid. Formerly I presented a metric navigation method based on occupancy grid working in the Webots simulation environment [3]. As a continuation of that research I created an enhancement of the former processes, a hybrid metric-topological navigation mechanism. A topologic layer is introduced in the environment exploration phase replacing the older value iteration [4]. The implementation of a topologic graph of the explorable places using the metric map enables the robot to navigate in a more efficient manner. A comparison of the pure metric and the new hybrid methods is also given.
Combining metric and topological navigation of simulated robots
2005-01-01
Acta Cybernetica; Vol 17 No 2 (2005); 401-417 ; 2676-993X ; 0324-721X
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Mobile Robots : Perception & Navigation
GWLB - Gottfried Wilhelm Leibniz Bibliothek | 2007
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