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Electronics and Telecommunications Research Institute (한국전자통신연구원)
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Incremental hierarchical roadmap construction for efficient path planning

  • Park, Byungjae (SW.Contents Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Choi, Jinwoo (Marine Robotics Laboratory, Korea Research Institute of Ships and Ocean Engineering) ;
  • Chung, Wan Kyun (Department of Mechanical Engineering, POSTECH)
  • Received : 2018.02.23
  • Accepted : 2018.05.14
  • Published : 2018.08.07
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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.

Keywords

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