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Proceedings Paper

Incremental online topological map building with a mobile robot
Author(s): Goksel Dedeoglu; Maja J. Mataric; Gaurav S. Sukhatme
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Paper Abstract

We present a behavior-based technique for incremental on-line mapping and autonomous navigation for mobile robots,specifically geared for time-critical indoor exploration tasks. The experimental platform used is a Pioneer AT mobile robot endowed with seven sonar transducers, a drift-stabilized gyro, a compass and a pan-tilt color camera. While the thrust of our work is the autonomous generation of real-time topological maps of the environment, both metric and topological descriptions of the environment are created in real time, each preserving its unique representational power and ease-of-use. We also present initial results on multi-robot cooperative topological mapping. The building blocks of the topological map are corridors, junctions and open/closed doors, augmented with absolute heading and metric information. Since the robot does not begin with an a priori map, all environmental features have to be evaluated at run-time to ensure safe navigation and efficient exploration. Our enhanced deadreckoning algorithm is backed up by the cyclic nature of indoor environments that provides additional hints for self-localization corrections. In addition, domain knowledge (such as perpendicular hallways) is used to actively correct maps as they are built on-line. All navigation, exploration, map building and self-localization capabilities are implemented as tightly-coupled behaviors, run by the onboard CPU.

Paper Details

Date Published: 15 November 1999
PDF: 11 pages
Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); doi: 10.1117/12.369248
Show Author Affiliations
Goksel Dedeoglu, Univ. of Southern California (United States)
Maja J. Mataric, Univ. of Southern California (United States)
Gaurav S. Sukhatme, Univ. of Southern California (United States)

Published in SPIE Proceedings Vol. 3838:
Mobile Robots XIV
Douglas W. Gage; Howie M. Choset, Editor(s)

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