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Average Outward Flux Skeletons for Environment Mapping and Topology Matching by Rezanejad, Morteza; Samari, Babak; Karimi, Elham; Rekleitis, Ioannis; Dudek, Gregory; Siddiqi, Kaleem is a scholarly article available to read on EtoBox.

What is Average Outward Flux Skeletons for Environment Mapping and Topology Matching about?

We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we first present the online construction of a topological map and the implementation of a control law for guiding the robot to the nearest unexplored area, first presented in [1]. The proposed method operates by allowing the robot to localize itself on a partially constructed map, calculate a path to unexplored parts of the environment (frontiers), compute a robust terminating condition when the robot has fully explored the environment, and achieve loop closure detection. The proposed algorithm results in smooth safe paths for the robot's navigation needs. The presented approach is any time algorithm that has the advantage that it allows for the active creation of topological maps from laser scan data, as it is being acquired. We also propose a navigation strategy based on a heuristic where the robot is directed towards nodes in the topological map that open to empty space. We then extend the work in [1] by presenting a topology matching algorithm

Author

Rezanejad, Morteza; Samari, Babak; Karimi, Elham; Rekleitis, Ioannis; Dudek, Gregory; Siddiqi, Kaleem

Published

2021

Language

EN