Open AccessIncremental hierarchical roadmap construction for efficient path planning
Author(s) -
Park Byungjae,
Choi Jinwoo,
Chung Wan Kyun
Publication year - 2018
Publication title -
etri journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.295
H-Index - 46
eISSN - 2233-7326
pISSN - 1225-6463
DOI - 10.4218/etrij.2018-0041
Subject(s) - motion planning , planner , process (computing) , computer science , probabilistic logic , probabilistic roadmap , path (computing) , sonar , mobile robot , cover (algebra) , robot , artificial intelligence , engineering , computer network , mechanical engineering , operating system
This paper proposes a hierarchical roadmap ( HRM ) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path‐planning problems of mobile robots in indoor environments. HRM has a multi‐layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM , information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM ‐based planner efficiently searches for paths to answer queries by reducing the search space size using the multi‐layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments.