Incremental hierarchical roadmap construction for efficient path planning
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- Title
- Incremental hierarchical roadmap construction for efficient path planning
- Authors
- Park, Byungjae; Choi, Jinwoo; Chung, Wan Kyun
- Date Issued
- 2018-08
- Publisher
- WILEY
- 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.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/95709
- DOI
- 10.4218/etrij.2018-0041
- ISSN
- 1225-6463
- Article Type
- Article
- Citation
- ETRI JOURNAL, vol. 40, no. 4, page. 458 - 470, 2018-08
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