Map format for mobile robot map-based autonomous navigation
This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common requirements of spatial representations for map-based mobile robot autonomous navigat...
| Autores: | , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2007 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/2696 |
| Acceso en línea: | https://hdl.handle.net/2117/2696 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robots Robots mòbils Classificació INSPEC::Automation::Robots::Mobile robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common requirements of spatial representations for map-based mobile robot autonomous navigation, a proposed environment model that fulfills previously discussed requirements is formally presented. An example of a map representing an outdoor area of an university campus of about 10000m2 is given to better illustrate the map format. Finally, the report shows simulation results on global localization and path planning using the proposed map. |
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