A topological map based navigation system for mobile robotics

The aim of this paper is to provide a brief overview of vector map techniques used in mobile robotics and to present current state of the research in this field at the Brno University of Technology. Vector maps are described as a part of the simultaneous localization and mapping (SLAM) problem in the environment without artificial landmarks or global navigation system. The paper describes algorithms from data acquisition to map building but particular emphasis is put on segmentation, line extraction and scan matching algorithms. All significant algorithms are illustrated with experimental results.

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A Practical Low-Cost Navigation System for RGBD Based Mobile Robotics

Advances in Intelligent Systems and Computing - Automation 2018 ◽

10.1007/978-3-319-77179-3_48 ◽

2018 ◽

pp. 510-517

Author(s):

Daniel Koguciuk ◽

Tomasz Gąsior

Keyword(s):

Navigation System ◽

Mobile Robotics ◽

Low Cost

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Algorithm of Topological Map Generation for the EDN Navigation System

IFAC Proceedings Volumes ◽

10.1016/s1474-6670(17)34308-2 ◽

2001 ◽

Vol 34 (4) ◽

pp. 275-280 ◽

Cited By ~ 1

Author(s):

R. Barber ◽

V. Egido ◽

M.A. Salichs

Keyword(s):

Navigation System ◽

Topological Map ◽

Map Generation

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Cooperative Exploration by Multi-Robots without Global Localization

International Journal of Advanced Robotic Systems ◽

10.5772/5682 ◽

2007 ◽

Vol 4 (3) ◽

pp. 36 ◽

Cited By ~ 2

Author(s):

Shi Chao-xia ◽

Hong Bing-rong ◽

Wang Yan-qing

Keyword(s):

Reference Frame ◽

Mobile Robotics ◽

Fundamental Problem ◽

Global Localization ◽

Scale Invariant ◽

Topological Map ◽

Invariant Features ◽

Unknown Environments ◽

Efficient Exploration ◽

Cooperative Exploration

Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We propose a novel topological map whose nodes are represented with the range finder's free beams together with the visual scale-invariant features. The topological map enables teams of robots to efficiently explore environments from different, unknown locations without knowing their initial poses, relative poses and global poses in a certain world reference frame. The experiments of map merging and coordinated exploration demonstrate the proposed map is not only easy for merging, but also convenient for robust and efficient explorations in unknown environments.

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Topological Navigation and Localization in Tunnels—Application to Autonomous Load-Haul-Dump Vehicles Operating in Underground Mines

Applied Sciences ◽

10.3390/app11146547 ◽

2021 ◽

Vol 11 (14) ◽

pp. 6547

Author(s):

Mauricio Mascaró ◽

Isao Parra-Tsunekawa ◽

Carlos Tampier ◽

Javier Ruiz-del-Solar

Keyword(s):

Navigation System ◽

Autonomous Vehicles ◽

Underground Mines ◽

Topological Map ◽

Automation Systems ◽

Scale Models ◽

Controlled Environments ◽

Mining Vehicles ◽

Topological Navigation ◽

Localization Systems

Mobile robots are no longer used exclusively in research laboratories and indoor controlled environments, but are now also used in dynamic industrial environments, including outdoor sites. Mining is one industry where robots and autonomous vehicles are increasingly used to increase the safety of the workers, as well as to augment the productivity, efficiency, and predictability of the processes. Since autonomous vehicles navigate inside tunnels in underground mines, this kind of navigation has different precision requirements than navigating in an open environment. When driving inside tunnels, it is not relevant to have accurate self-localization, but it is necessary for autonomous vehicles to be able to move safely through the tunnel and to make appropriate decisions at its intersections and access points in the tunnel. To address these needs, a topological navigation system for mining vehicles operating in tunnels is proposed and validated in this paper. This system was specially designed to be used by Load-Haul-Dump (LHD) vehicles, also known as scoop trams, operating in underground mines. In addition, a localization system, specifically designed to be used with the topological navigation system and its associated topological map, is also proposed. The proposed topological navigation and localization systems were validated using a commercial LHD during several months at a copper sub-level stoping mine located in the Coquimbo Region in the northern part of Chile. An important aspect to be addressed when working with heavy-duty machinery, such as LHDs, is the way in which automation systems are developed and tested. For this reason, the development and testing methodology, which includes the use of simulators, scale-models of LHDs, validation, and testing using a commercial LHD in test-fields, and its final validation in a mine, are described.

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