Navigation system with SLAM-based trajectory topological map and reinforcement learning-based local planner.
Wuyang XuePeilin LiuRuihang MiaoZheng GongFei WenRendong YingPublished in: Adv. Robotics (2021)
Keyphrases
- topological map
- reinforcement learning
- simultaneous localization and mapping
- mobile robot
- indoor environments
- loop closing
- map building
- robot navigation
- globally consistent
- real robot
- mobile robotics
- robot localization
- autonomous navigation
- particle filter
- topological features
- data association
- state space
- dynamic environments
- kalman filter
- path planning
- geometrical information
- general theory
- real time
- real environment
- outdoor environments
- dynamic programming
- learning algorithm