A fast sequential method for polygonal approximation of digitized curves
Computer Vision, Graphics, and Image Processing
Distance transformations in digital images
Computer Vision, Graphics, and Image Processing
Fundamentals of digital image processing
Fundamentals of digital image processing
Segmentation of edges into lines and arcs
Image and Vision Computing
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Machine Learning
Introduction to Reinforcement Learning
Introduction to Reinforcement Learning
Exploring artificial intelligence in the new millennium
An Introduction to the Kalman Filter
An Introduction to the Kalman Filter
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Mobile robotics and robot navigation is a growing area of scientific research. Robot simulators are useful designing and analizing tools of this domain.Webots [1] is a well-known representant of these programs, a three-dimensional mobile robot simulator. Various guidance principles can be developed in C/C++ or Java programming language with the use of Webots controller programs.In this paper a short overview is given about the problems arising in the process of the navigation, and a short taxonomy is presented about the possible problem solving methods [2]. A brief introduction to the probabilistic navigation techniques concerning Kalman filter and expectation maximization is included with a special focus on occupancy grid.Formerly I presented a metric navigation method based on occupancy grid working in the Webots simulation environment [3]. As a continuation of that research I created an enhancement of the former processes, a hybrid metric-topological navigation mechanism. A topologic layer is introduced in the environment exploration phase replacing the older value iteration [4]. The implementation of a topologic graph of the explorable places using the metric map enables the robot to navigate in a more efficient manner. A comparison of the pure metric and the new hybrid methods is also given.