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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
Citation: 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.
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
ISSN: 09218890
DOI: 10.1016/j.robot.2010.12.003
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