Empirical evaluation of a practical indoor mobile robot navigation method using hybrid maps

摘要

This video presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as occupancy grids by a laser range finder to represent local information about partial areas. The global topological map is used to indicate the connectivity of the `places-of-interests' in the environment and the interconnectivity of the local maps. Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization. The navigation scheme based on the hybrid metric-topological maps saves memory space and is also scalable and adaptable since new local maps can be easily added to the global topology, and the method can be deployed with minimum amount of modification if new areas are to be explored. The video demonstrated that the method is implemented successfully on physical robot in a hospital environment, which provides a practical solution for indoor navigation.