An enhanced topological map for efficient and reliable mobile robot navigation with imprecise sensors
An enhanced topological mapping system for efficient and reliable navigation is presented. The map has a topological framework and some additional features. Firstly, it utilizes such rough metrical information as the length and orientation of the links. Secondly, it provides a reliable localization algorithm with which the robot first finds the interval describing the robots probable location by estimating the projected traveled distance using dead reckoning and then fine-tunes the estimation using landmark detection modules. Finally, it provides a planning algorithm with which the robots path is chosen so that the robot reaches the goal location as fast as possible without losing its way despite using such imprecise sensors as ultrasonic range finders. We have implemented and tested the proposed mapping system both on a simulator and a real mobile robot, the CAIR-2. This paper also describes landmark detection modules that utilize ultrasonic range finders. Although landmark detection modules are too simple and imprecise to estimate position by themselves, these experiments show that the proposed mapping system can reliably guide robots.
topological map mobile robot navigation position estimation