Learning Metric-Topological Maps Maps for Indoor Mobile Robot Navigation

Sebastian Thrun

Autonomous robots must be able to learn and maintain models of their environments. Research on mobile robot navigation has produced two major paradigms for mapping indoor environments: grid-based and topological. While grid-based methods produce accurate metric maps, their complexity often prohibits efficient planning and problem solving in large-scale indoor environments. Topological maps, on the other hand, can be used much more efficiently, yet accurate and consistent topological maps are often difficult to learn and maintain in large-scale environments, particularly if momentary sensor data is highly ambiguous. This paper describes an approach that integrates both paradigms: grid-based and topological. Grid-based maps are learned using artificial neural networks and naive Bayesian integration. Topological maps are generated on top of the grid-based maps, by partitioning the latter into coherent regions. By combining both paradigms, the approach presented here gains advantages from both worlds: accuracy/consistency and efficiency. The paper gives results for autonomous exploration, mapping and operation of a mobile robot in populated multi-room environments.

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@ARTICLE{Thrun98a,
  AUTHOR         = {S. Thrun},
  YEAR           = {1998},
  TITLE          = {Learning Metric-Topological Maps for Indoor 
                   Mobile Robot Navigation},
  JOURNAL        = {Artificial Intelligence},
  VOLUME         = {99},
  NUMBER         = {1},
  PAGES          = {21--71}
}