City-Scale Grid-Topological Hybrid Maps for Autonomous Mobile Robot Navigation in Urban Area
Shun Niijima,Ryusuke Umeyama,Yoko Sasaki,Hiroshi Mizoguchi,Shun Niijima,Ryusuke Umeyama,Yoko Sasaki,Hiroshi Mizoguchi
Extensive city navigation remains an unresolved problem for autonomous mobile robots that share space with pedestrians. This paper proposes a configuration for a navigation map that expresses urban structures and an autonomous navigation scheme that uses the configuration. The proposed map configuration is a hybrid structure of multiple 2D grid maps and a topological graph. The occupancy grids for...
