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Trail-Map: A Scalable Landmark Data Structure for Biologically Inspired Range-Free Navigation

Stelzer, Annett and Mair, Elmar and Suppa, Michael (2014) Trail-Map: A Scalable Landmark Data Structure for Biologically Inspired Range-Free Navigation. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2138-2145. IEEE. 2014 IEEE International Conference on Robotics and Biomimetics, 05-10 Dec 2014, Bali, Indonesia. ISBN 978-1-4799-7396-5

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Small mobile robots often have very limited computational resources, but should still be able to navigate robustly in spacious unknown environments. While local navigation already requires high-resolution maps for obstacle avoidance and path planning, the global navigation task should aim to consume as little resources as possible but still enable the robot to robustly find the way to important places. Inspired by models of insect navigation, Augustine et al. [1] recently introduced the LT-Map, a scalable data structure for homing based on bearing-only landmark measurements. The robot memorizes landmark configurations during its first traversal of a path and uses them to navigate the same route again. The LT-Map uses a tree structure to store the landmark views in the order of their translation invariance. This paper introduces an improvement of the LT-Map, the Translation Invariance Level Map (Trail-Map). This novel data structure also stores the landmark views in a hierarchical order of translation invariance, but is based on lists of landmark views. Thus, it avoids redundancies that could arise in the LT-Map and leads to a more consistent hierarchy. The Trail-Map achieves significant memory savings and can be created and pruned very efficiently what makes it attractive to mobile robots with limited computational power. Simulation results show that the Trail-Map data structure can save more than 80% of memory compared to the LT-Map while achieving the same path accuracy.

Item URL in elib:https://elib.dlr.de/93872/
Document Type:Conference or Workshop Item (Speech)
Title:Trail-Map: A Scalable Landmark Data Structure for Biologically Inspired Range-Free Navigation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stelzer, AnnettAnnett.Stelzer (at) dlr.deUNSPECIFIED
Mair, Elmarelmar.mair (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:5 December 2014
Journal or Publication Title:IEEE International Conference on Robotics and Biomimetics (ROBIO)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2138-2145
Nguyen, Van KhangUNSPECIFIED
Keywords:data structure, range free navigation, biologically inspired, scalable, landmark based navigation
Event Title:2014 IEEE International Conference on Robotics and Biomimetics
Event Location:Bali, Indonesia
Event Type:international Conference
Event Dates:05-10 Dec 2014
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 (since 2013) > Perception and Cognition
Deposited By: Lingenauber, Martin
Deposited On:09 Jan 2015 16:45
Last Modified:31 Jul 2019 19:50

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