BROWSE
Detail
Journal Article
Incremental Hierarchical Roadmap Construction for Efficient Path Planning
- Authors
- Byungjae Park, Jinwoo Choi, Wan Kyun Chung
- Issue Date
- 2018-08
- Citation
- ETRI Journal, v.40, no.4, pp.458-470
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원 (ETRI)
- Language
- English
- Type
- Journal Article
- Abstract
- This paper proposes a hierarchical roadmap (HRM) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path-planning problems of mobile robots in indoor environments. HRM has a multi-layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM, information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM-based planner efficiently searches for paths to answer queries by reducing the search space size using the multi-layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments.
- KSP Keywords
- Construction process, Efficient path, Incremental process, Indoor Environment, Mobile robots, Probabilistic roadmap, Search Space, path planning