HiTMap：未知環境ナビゲーションのための階層型トポロジカルマップ表現
HiTMap: A Hierarchical Topological Map Representation for Navigation in Unknown Environments
グローバルなメトリック地図の代わりにサブマップベースの階層トポロジーを用い、局所地図のみで障害物回避とフロンティア検出による未知空間探索を可能にする軽量な地図表現を提案した論文。
著者: Xuecheng Xu, Cheng Wang, Yue Wang, Rong Xiong
分類: cs.RO
原文アブストラクト
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to navigate. However, in large-scale real-world applications, it's hard to prohibit drifts and compose a globally consistent map quickly. In this paper, a novel representation named, HiTMap, is proposed to enhance the existing map representations. The central idea is to adopt a submap-based hierarchical topology rather than a global metric map so that only a local metric map is maintained for obstacle avoidance which ensures the lightweight of the representation. To guide the robots navigate into unknown spaces, frontiers are detected and attached to the map as an attribute. We also develop a path planning module to evaluate the feasibility and efficiency of our map representation. The system is validated in a simulation environment and a demonstration in the real world is conducted. In addition, the HiTMap is made available open-source.
