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

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

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

Kurzfassung

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.

Dokumentart:Zeitschriftenbeitrag
Titel:A biologically inspired navigation concept based on the Landmark-Tree map for efficient long-distance robot navigation
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Mair, Elmarelmar.mair@dlr.de
Augustine, MarcusNICHT SPEZIFIZIERT
Jäger, BastianNICHT SPEZIFIZIERT
Stelzer, AnnettAnnett.Stelzer@dlr.de
Brand, ChristophChristoph.Brand@dlr.de
Burschka, DariusDarius.Burschka@dlr.de
Suppa, MichaelMichael.Suppa@dlr.de
Datum:11 Februar 2014
Erschienen in:Advanced Robotics
Referierte Publikation:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:28
DOI :10.1080/01691864.2013.871770
Seitenbereich:Seiten 289-302
Verlag:Taylor & Francis
ISSN:0169-1864
Status:veröffentlicht
Stichwörter:topological navigation; roadmap; Landmark-Tree; LT-map; bio-inspired
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben Multisensorielle Weltmodellierung
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Perzeption und Kognition
Hinterlegt von: Annett Stelzer
Hinterlegt am:20 Aug 2014 14:52
Letzte Änderung:20 Aug 2014 14:52

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