Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.robot.2010.12.003
Title: Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation
Authors: Ge, S.S. 
Zhang, Q. 
Abraham, A.T.
Rebsamen, B. 
Keywords: Autonomous mobile robots
Hierarchical topological mapping
Map-based navigation
Path planning
Issue Date: Mar-2011
Source: Ge, S.S., Zhang, Q., Abraham, A.T., Rebsamen, B. (2011-03). Simultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation. Robotics and Autonomous Systems 59 (3-4) : 228-242. ScholarBank@NUS Repository. https://doi.org/10.1016/j.robot.2010.12.003
Abstract: In this paper, a novel approach, Simultaneous Path Planning and Topological Mapping (SP2ATM), is presented to address the problem of path planning in unknown environments by concurrent and incremental construction of a map, which strictly exploits only the topology rather than grid representation. For local topological information representation, a new concept, Admissible Space Tree (AST), is presented to describe the admissible free space in the environment as a group of nodes and graphs. The global map of the explored environment is encoded in a Hierarchical Topological Map (HTM), which by embedding the AST, serves as the least information to facilitate path planning. For simplicity, the algorithm is implemented in a planar space on our differentially driven mobile robot X1, based on its range sensing and self-localization capabilities. Experiments' results show that SP2ATM is effective and globally convergent in complex and dynamic environments. © 2010 Elsevier B.V. All rights reserved.
Source Title: Robotics and Autonomous Systems
URI: http://scholarbank.nus.edu.sg/handle/10635/83027
ISSN: 09218890
DOI: 10.1016/j.robot.2010.12.003
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

21
checked on Feb 28, 2018

WEB OF SCIENCETM
Citations

12
checked on Mar 5, 2018

Page view(s)

136
checked on Apr 20, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.