FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning.
Kun SongWenhang LiuGaoming ChenXiang XuZhenhua XiongPublished in: CoRR (2023)
Keyphrases
- path planning
- topological map
- mobile robot
- indoor environments
- autonomous navigation
- map building
- loop closing
- obstacle avoidance
- collision avoidance
- robot localization
- path planning algorithm
- dynamic environments
- robot navigation
- dynamic and uncertain environments
- multi robot
- autonomous robots
- multiple robots
- motion planning
- optimal path
- potential field
- unknown environments
- autonomous vehicles
- robot path planning
- autonomous systems
- computational model
- mobile robotics
- outdoor environments
- unmanned aerial vehicles
- simultaneous localization and mapping
- loop closure
- decision making
- robotic systems