DocumentCode
1694352
Title
Global localisation via sub-graph isomorphism
Author
Piaggio, Maurizio ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution
DIST, Genoa Univ., Italy
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
151
Lastpage
158
Abstract
A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated experimental results are provided
Keywords
graph theory; mobile robots; path planning; any-time algorithm; autonomous mobile robot; free space; global localisation; graph-like topological representation; map-matching problem; occupancy grids; sub-graph isomorphism; Computational efficiency; Computer crashes; Floors; Hospitals; Mobile robots; Robot sensing systems; Service robots; Tracking; Turning; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on
Conference_Location
Zurich
Print_ISBN
0-7803-5672-1
Type
conf
DOI
10.1109/EURBOT.1999.827634
Filename
827634
Link To Document