City-Scale Grid-Topological Hybrid Maps for Autonomous Mobile Robot Navigation in Urban Area
City-Scale Grid-Topological Hybrid Maps for Autonomous Mobile Robot Navigation in Urban Area
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DOI：
10.1109/iros45743.2020.9340990
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
Shun Niijima;Ryusuke Umeyama;Y. Sasaki;H. Mizoguchi
中科院分区：
文献类型：
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作者：
Shun Niijima;Ryusuke Umeyama;Y. Sasaki;H. Mizoguchi
对于与行人共享空间的自主移动的机器人来说，广泛的城市导航仍然是一个尚未解决的问题。本文提出了一种配置的导航地图，表示城市结构和自主导航方案，使用该配置。建议的地图配置是一个混合结构的多个二维网格地图和拓扑图。用于路径规划的占用网格是从给定的3D点云和公开可用的地图自动转换的。拓扑图使得占用网格的细分之间的连接能够被管理并且用于路线规划。这种混合配置可以自动嵌入各种城市结构，适用于广泛的自主导航任务。我们通过在真实的城市中生成所提出的导航地图并在混合地图上进行路径规划来评估地图。实验结果表明，与传统的基于单一二维网格地图的路径规划相比，混合地图可以减少规划时间和内存占用。
Extensive city navigation remains an unresolved problem for autonomous mobile robots that share space with pedestrians. This paper proposes a configuration for a navigation map that expresses urban structures and an autonomous navigation scheme that uses the configuration. The proposed map configuration is a hybrid structure of multiple 2D grid maps and a topological graph. The occupancy grids for path planning are automatically converted from a given 3D point cloud and publicly available maps. The topological graph enables the connections between the subdivisions of occupancy grids to be managed and are used for route planning. This hybrid configuration can embed various urban structures automatically and is applicable to a wide range of autonomous navigation tasks. We evaluated the map by generating the pro-posed navigation map in real city and performing path planning using on the hybrid map. Experimental results demonstrated that the hybrid map can reduce the planning time and memory usage compared to the conventional single 2D grid map based path planning.