A topological approach of path planning for autonomous robot navigation in dynamic environments

Authors:
Aswin Thomas Abraham;Shuzhi Sam Ge;Pey Yuen Tao
Affiliations:
Social Robotics Lab, Interactive Digital Media Institute, and the Department of Electrical and Computer Engineering, National University of Singapore, Singapore;Social Robotics Lab, Interactive Digital Media Institute, and the Department of Electrical and Computer Engineering, National University of Singapore, Singapore;Social Robotics Lab, Interactive Digital Media Institute, and the Department of Electrical and Computer Engineering, National University of Singapore, Singapore
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper proposes a novel approach, Simultaneous Path Planning and Topological Mapping (SP2ATM), to address the problem of path planning by registering the topology of the perceived dynamic environment as opposed to the conventional grid representation. The local topology is encoded, concurrent and incremental with path planning, by extracting only the admissible free space. The resulting Admissible Space Topological Map (ASTM) then serves as the minimum information to facilitate path planning in the 3D configuration space. Experimental results obtained from our mobile robot X1 in a complex planar environment, validates completeness and optimality of the algorithm.