Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.robot.2010.12.003
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dc.titleSimultaneous Path Planning and Topological Mapping (SP2ATM) for environment exploration and goal oriented navigation
dc.contributor.authorGe, S.S.
dc.contributor.authorZhang, Q.
dc.contributor.authorAbraham, A.T.
dc.contributor.authorRebsamen, B.
dc.date.accessioned2014-10-07T04:36:24Z
dc.date.available2014-10-07T04:36:24Z
dc.date.issued2011-03
dc.identifier.citationGe, 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
dc.identifier.issn09218890
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/83027
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/j.robot.2010.12.003
dc.sourceScopus
dc.subjectAutonomous mobile robots
dc.subjectHierarchical topological mapping
dc.subjectMap-based navigation
dc.subjectPath planning
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.contributor.departmentTEMASEK LABORATORIES
dc.description.doi10.1016/j.robot.2010.12.003
dc.description.sourcetitleRobotics and Autonomous Systems
dc.description.volume59
dc.description.issue3-4
dc.description.page228-242
dc.description.codenRASOE
dc.identifier.isiut000288844200007
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