A hierarchical approach to region division for mobile robot based on spectral cluster - 文章详情页

作者：

Jia, Songmin (Jia, Songmin.) (学者：贾松敏) | Zhao, Xue (Zhao, Xue.) | Li, Yuchen (Li, Yuchen.) | Wang, Ke (Wang, Ke.)

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EI Scopus

摘要：

This　paper　presents　a　hierarchical　method　of　region　division　for　mobile　robot　system　based　on　spectral　clustering　algorithm.　Firstly,　to　improve　the　exploration　efficiency,　topological　map　is　constructed　incrementally　using　a　hybrid　map　model　with　grid-topplogy　structure.　And　then,　topology-based　Voronoi　Diagram　is　introduced　to　divide　the　map　and　express　the　whole　environment　uniquely.　Meanwhile,　Scale-Invariant　Feature　Transform　(SIFT)　feature　is　extracted　to　relate　to　different　nodes,　and　RANdom　SAmple　Consensus　(RANSAC)　algorithm　is　integrated　to　optimize　matching　results.　On　this　basis,　an　undirected　weighted　graph　is　built　and　the　spectral　clustering　theory　based　on　SIFT　matching　information　is　adopted　to　partition　global　topologycal　map　and　realize　region　division.　The　paper　details　the　architecture　of　the　presented　method　and　gives　some　experiments　to　verify　the　effectiveness.　©　2013　IEEE.

关键词：

Biomimetics Clustering algorithms Graphic methods Mobile robots Robotics Topology

作者机构：

[ 1 ] [Jia, Songmin]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 2 ] [Zhao, Xue]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 3 ] [Li, Yuchen]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 4 ] [Wang, Ke]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China

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