Navigating underground environments using simple topological representations
Lorenzo Cano,Alejandro R. Mosteo,Danilo Tardioli,Lorenzo Cano,Alejandro R. Mosteo,Danilo Tardioli
Underground environments are some of the most challenging for autonomous navigation. The long, featureless corridors, loose and slippery soils, bad illumination and unavailability of global localization make many traditional approaches struggle. In this work, a topological-based navigation system is presented that enables autonomous navigation of a ground robot in mine-like environments relying ex...
