Topological Navigation of Simulated Robots using Occupancy Grid

Details Topological Navigation of Simulated Robots using Occupancy Grid Topological Navigation of Simulated Robots using Occupancy Grid

2004-11-08

arxiv.org/abs/cs/0411022v1

International Journal of Advanced Robotic Systems, ISSN 1729-8806, Volume 1, Number 3 (2004), pp.201-206

Computer Science

Robotics

Scientific paper

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.

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