Intelligent planning based on multi-resolution map for simultaneous localization and mapping

Abstract

Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the intelligent planning. The intelligent planning is composed of preplanning, online planning, and adaptive planning. These planning methods are used according to the state of a built map. The experimental results show the effectiveness of the proposed method.