Navigation on Topologic Feature-Maps
Uwe R. Zimmer, Cornelia Fischer, Ewald von Puttkamer · 1994
ions Control World knowledge & Actual Position figure 1 : ALICE main-structure Environment Chapter: Topologic mapping Page: 2 3. Topologic mapping As being shown in [5], applying a dynamic feature map system like [3] resp. refinements from [4] leads to topologic environment maps, which are stable regarding drift and sensor noise.A related but symboloriented approach called "Qualitative Topologic Maps" is presented by Kuipers and Byun in [1]. The map from fi gure 2 represents a typical result of an exploration phase (in this case manual exploration). The nodes nearest to the obstacles represent the border (which has been detected by whiskers) whereas the nodes in between represent different light situations (three light sources were attached here). Due to the fact that we are not using any distancemeasuring sensors, we can only detect nodes to be neighbours in the topologic graph by driving along their connections, and not simply by "seeing" them. 4. Navigation The navigation mo...