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Landmark-Tree Map: a Biologically Inspired Topological Map for Long-Distance Robot Navigation

Augustine, Marcus and Mair, Elmar and Stelzer, Annett and Ortmeier, Frank and Burschka, Darius and Suppa, Michael (2012) Landmark-Tree Map: a Biologically Inspired Topological Map for Long-Distance Robot Navigation. IEEE International Robotics and Biomimetics.

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Abstract

Abstract—Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot approaches, we do not simply store the landmarks as a set, but we build a landmark tree which enables us to easily free memory in case of a continuously growing map while still preserving the dominant information. The resulting navigation is not sensor specific and solely relies on the directions of arbitrary landmarks. The generated map enables a mobile robot to navigate between defined locations and let it retrace a previously pursued path. Finally, we verify the reliability of the Landmark-Tree Map (LT-Map) concept and its robustness on memory limitations.

Item URL in elib:https://elib.dlr.de/79965/
Document Type:Article
Title:Landmark-Tree Map: a Biologically Inspired Topological Map for Long-Distance Robot Navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Augustine, MarcusOtto-von-Guericke UniversityUNSPECIFIED
Mair, ElmarDLRUNSPECIFIED
Stelzer, AnnettDLRUNSPECIFIED
Ortmeier, FrankOtto-von-Guericke UniversityUNSPECIFIED
Burschka, DariusTUMUNSPECIFIED
Suppa, MichaelDLRUNSPECIFIED
Date:11 December 2012
Journal or Publication Title:IEEE International Robotics and Biomimetics
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:map, topological, navigation, landmarks, tree, bio-inspired, efficient, scalable
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Mair, Elmar
Deposited On:11 Jan 2013 14:58
Last Modified:12 Dec 2013 21:56

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