Document (#13608)

Author

Park, I.-P.
Kender, J.R.

Title

Topological direction giving and visual navigation in large environments

Source

Artificial intelligence. 78(1995) nos.1/2, S.355-395

Year

1995

Abstract

Proposes and investigates a new model for robot navigation in large unstructured environments. It consists of a map-maker and a navigator. Given a source and a goal, the map maker derives a navigational path based on the topolgical relationships between landmarks. A navigational path is generated as a combination of the parkway and trajectory paths, both of which are abstractions of the real world into topological data structures. Traversing on a trajectory enables the navigator to follow landmarks that are continuously visible, and to move reliably into featureless space, based on local headings formed by visible landmarks that are robust to positional and orientational errors

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