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A biologically inspired navigation concept based on the Landmark-Tree map for efficient long-distance robot navigation

Mair, Elmar and Augustine, Marcus and Jäger, Bastian and Stelzer, Annett and Brand, Christoph and Burschka, Darius and Suppa, Michael (2014) A biologically inspired navigation concept based on the Landmark-Tree map for efficient long-distance robot navigation. Advanced Robotics, 28 (5), pp. 289-302. Taylor & Francis. DOI: 10.1080/01691864.2013.871770. ISSN 0169-1864.

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Official URL: http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.871770

Abstract

Map-based navigation is a crucial task for any mobile robot. Usually, in an unknown environment, this problem is addressed by applying Simultaneous Localization and Mapping based on metric grid-maps. However, such maps are in general rather computational expensive and do not scale well. Insects are able to cover large distances and reliably find back to their nests, although they are quite limited in their resources. Inspired by theories on insect navigation, we developed a data structure which is highly scalable and efficiently adapts to the available memory during run-time. Positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot or visual map approaches, we do not simply store the landmarks as a set, but we arrange them in a tree-like structure according to the relevance of their information. The resulting navigation solely relies on the direction measurements of arbitrary landmarks. In this work, we present the concept of the Landmark-Tree (LT) map and apply it to a mobile platform equipped with an omnidirectional camera. We verify the reliability and robustness of the LT-map concept in simulations as well as by experiments with the robotic platform.

Document Type:Article
Title:A biologically inspired navigation concept based on the Landmark-Tree map for efficient long-distance robot navigation
Authors:
AuthorsInstitution or Email of Authors
Mair, Elmarelmar.mair@dlr.de
Augustine, MarcusUNSPECIFIED
Jäger, BastianUNSPECIFIED
Stelzer, AnnettAnnett.Stelzer@dlr.de
Brand, ChristophChristoph.Brand@dlr.de
Burschka, DariusDarius.Burschka@dlr.de
Suppa, MichaelMichael.Suppa@dlr.de
Date:11 February 2014
Journal or Publication Title:Advanced Robotics
Refereed publication:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:28
DOI:10.1080/01691864.2013.871770
Page Range:pp. 289-302
Publisher:Taylor & Francis
ISSN:0169-1864
Status:Published
Keywords:topological navigation; roadmap; Landmark-Tree; LT-map; bio-inspired
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Perception and Cognition
Deposited By: Annett Stelzer
Deposited On:20 Aug 2014 14:52
Last Modified:20 Aug 2014 14:52

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