Tom Duckett and Alessandro Saffiotti

Building Globally Consistent Gridmaps from Topologies

Proc. SYROCO'00, 6th Int. IFAC Symposium on Robot Control


This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation in large-scale environments. A hierarchy of robot maps is proposed which integrates topological and grid-based representations at different levels of abstraction. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot in a large, real world environment demonstrate the effectiveness of the approach.


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  AUTHOR = "Tom Duckett and Alessandro Saffiotti",
  TITLE = "Building Globally Consistent Gridmaps from Topologies",
  BOOKTITLE = "Proc. SYROCO'00, 6th Int. IFAC Symposium on Robot Control",
  PUBLISHER = "Elsevier",
  YEAR = 2000