Topological direction-giving and visual navigation in large environments

摘要

In this paper, we propose and investigate a new model for robot navigation in large unstructured environments. Current models, which depend on metric information, have to deal with inherent mechanical and sensory errors. Instead we supply the navigator with qualitative information. Our model consists of two parts, a map-maker and a navigator. Given a source and a goal, the mapmaker derives a navigational path based on the topological relationships between landmarks. A navigational path is generated as a combination of “parkway” and “trajectory” paths, both of which are abstractions of the real world into topological data structures. Traversing within a parkway enables the navigator to follow landmarks that are continuously visible. Traversing on a trajectory enables the navigator to move reliably into featureless space, based on local headings formed by visible landmarks that are robust to positional and orientational errors. Reliability measures of parkway and trajectory traversals are defined by appropriate error models that account for the sensory errors of the navigator, the population of neighboring objects, and the rotational and translational errors of the navigator. The optimal path is further abstracted into a “custom map”, which consists of a list of symbolic directional instructions, the vocabulary of which is defined by our environmental description language. Based on the custom map generated by the map-maker, the navigating robot looks for events that are characterized by spatial properties of the environment. The map-maker and the navigator are implemented using two cameras, an IBM 7575 robot arm, and a PIPE (Pipelined Image Processing Engine.)