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Erschienen in:
2009 | OriginalPaper | Buchkapitel
A Dual Graph Pyramid Approach to Grid-Based and Topological Maps Integration for Mobile Robotics
verfasst von : J. M. Pérez-Lorenzo, R. Vázquez-Martín, E. Antúnez, A. Bandera
Erschienen in: Bio-Inspired Systems: Computational and Ambient Intelligence
Verlag: Springer Berlin Heidelberg
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A pyramid is a hierarchy of successively reduced graphs which represents the contents of a base graph at multiple levels of abstraction. The efficiency of the pyramid to represent the information is strongly influenced by the graph selected to encode the information within each pyramid level (data structure) and the scheme used to build one graph from the graph below (decimation process). In this paper, the dual graph data structure and the maximal independent edge set (MIES) decimation process are applied in the context of robot navigation. The aim is to integrate the grid-based and the topological paradigms for map building. In this proposal, dual graphs allow to correctly represent the embedding of the topological map into the metric one.