Topological Navigation of Simulated Robots using Occupancy Grid
Robotics
2007-05-23 v1 Artificial Intelligence
Abstract
Formerly I presented a metric navigation method in the Webots mobile robot simulator. The navigating Khepera-like robot builds an occupancy grid of the environment and explores the square-shaped room around with a value iteration algorithm. Now I created a topological navigation procedure based on the occupancy grid process. The extension by a skeletonization algorithm results a graph of important places and the connecting routes among them. I also show the significant time profit gained during the process.
Keywords
Cite
@article{arxiv.cs/0411022,
title = {Topological Navigation of Simulated Robots using Occupancy Grid},
author = {Richard Szabo},
journal= {arXiv preprint arXiv:cs/0411022},
year = {2007}
}