Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM
Abstract
The generalized Voronoi graph (GVG) is a topological representation of an environment that can be incrementally constructed with a mobile robot using sensor-based control. However, because of sensor range limitations, the GVG control law will fail when the robot moves into a large open area. This paper discusses an extended GVG approach to topological navigation and mapping: the saturated generalized Voronoi graph (S-GVG), for which the robot employs an additional wall-following behavior to navigate along obstacles at the range limit of the sensor. In this paper, we build upon previous work related to the S-GVG and provide two important contributions: 1) a rigorous discussion of the control laws and algorithm modifications that are necessary for incremental construction of the S-GVG with a mobile robot, and 2) a method for incorporating the S-GVG into a novel multi-hypothesis SLAM algorithm for loop-closing and localization. Experiments with a wheeled mobile robot in an office-like environment validate the effectiveness of the proposed approach.
BibTeX
@conference{Tao-2011-7292,author = {Tong Tao and Stephen T. Tully and George A. Kantor and Howie Choset},
title = {Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2011},
month = {May},
pages = {3072 - 3077},
}