Robot navigation in corridor environments using a sketch floor map

This paper presents a new robot navigation system that can operate on a sketch floor map provided by a user. This sketch map is similar to floor plans as shown at the entrance of buildings, which does not contain accurate metric information and details such as obstacles. The system enables a user to give navigational instructions to a robot by interactively providing a floor map and pointing out goal positions on the map. Since metric information is unavailable, navigation is done using an augmented topological map which described the structure of the corridors extracted from a given floor map. Multiple hypotheses of the robot's location are maintained and updated during navigation in order to cope with sensor aliasing and landmark-matching failures due to factors such as unknown obstacles inside the corridors.