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This experiment consisted of placing the robot near the door to a conference room, providing the robot
with the environment atlas and the node and edge that it would first arrive at, a goal consisting
of a node and edge, and cartesian coordinates in the edge map frame corresponding to an office door.
Specifically, the robot was to begin at node 2 arriving on edge 0 and drive to node 4.
The robot simply planned its path and followed the GVG to the goal node 4, then departed on the goal edge (4:2).
The robot then traversed the GVG edge until its distance to the goal coordinate was closer than the
distance to the nearest object. When this occurred, the robot was guaranteed an unobstructed straight-line
path to the goal coordinate, and so the robot drove in a straight line to its goal.
This experiment was the same as experiment A above, except that we placed two garbage cans near the goal.
The cans obstructed the straight-line path that the robot traversed previously, but did not change the
topology of the environment. Therefore, the robot succeeded in travelling to the goal using the same topological
path and drove past the cans before turning back to drive to the goal.
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