NDLI: A hierarchical topological planner for multi-storey building navigation

Content Provider	IEEE Xplore Digital Library
Author	Qun Zhang Xiaojun Wu Bingbing Liu Adiwahono, A.H. Tran Anh Dung Tai Wen Chang
Copyright Year	2015
Description	Author affiliation: Autonomous Vehicle Programme, ASTAR, Singapore, Singapore (Qun Zhang; Xiaojun Wu; Bingbing Liu; Tai Wen Chang) \|\| Robot. Programme, ASTAR, Singapore, Singapore (Adiwahono, A.H.; Tran Anh Dung)
Abstract	In this paper, we present a hierarchical path planner for autonomous navigation of a tracked robot in buildings that have multiple storeys. The planner utilizes a multiple layered topological map that integrates both topological and metrical information to represent the multi-storey environment, which allows the robot to navigate between different storeys of the building efficiently while avoiding dynamic obstacles on the way. The high semantic levels of the map represent semantic places or areas while the low level metric graph is created on top of an occupancy grid, where the topological nodes serve as waypoints that assist the robot in the path planning. Based on the graph, the mission planner plans tasks hierarchically and each of the executing tasks is implemented as an active state in a Finite State Machine (FSM) to control the robot to complete the tasks. Simulations and realistic experiments have demonstrated the effectiveness of the proposed planner for multi-storey building navigation.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	731
Ending Page	736
File Size	1452079
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot kinematics Buildings Measurement Semantics Planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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