1、 IEEE Standard for Robot Map Data Representation for Navigation Sponsored by the Standing Committee for Standards IEEE 3 Park Avenue New York, NY 10016-5997 USA IEEE Robotics and Automation Society IEEE Std 1873-2015 IEEE Std 1873-2015 IEEE Standard for Robot Map Data Representation for Navigation S
2、ponsor Standing Committee for Standards of the IEEE Robotics and Automation Society Approved 3 September 2015 IEEE-SA Standards Board Abstract: A map data representation of environments of a mobile robot performing a navigation task is specified in this standard. It provides data models and data for
3、mats for two-dimensional (2D) metric and topological maps. Keywords: IEEE 1873, map data representation, metric map, robot navigation, topological map The Institute of Electrical and Electronics Engineers, Inc. 3 Park Avenue, New York, NY 10016-5997, USA Copyright 2015 by The Institute of Electrical
4、 and Electronics Engineers, Inc. All rights reserved. Published 26 October 2015. Printed in the United States of America. IEEE is a registered trademark in the U.S. Patent marks of W3C are registered and held by its host institutions MIT, ERCIM, Keio, and Beihang. PDF: ISBN 978-0-7381-9893-4 STD2035
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40、EE standard was completed, the Robot Map Data Representation (MDR) Working Group had the following membership: Wonpil Yu, Chair Francesco Amigoni, Vice Chair Torsten Andre Atsuhiko Banno Geoffrey Biggs Dirk Holz Akiya Kamimura Rajmohan Madhavan Martin Magnusson Matteo Matteucci Hyungpil Moon Masashi
41、 Yokotsuka Jae-Jun Yoo The following members of the individual balloting committee voted on this standard. Balloters may have voted for approval, disapproval, or abstention. Francesco Amigoni Keith Chow Sourav Dutta Paulo Goncalves Randall Groves Seo Ho Werner Hoelzl Noriyuki Ikeuchi Sang-won Jeon P
42、iotr Karocki Dong Han Kim Rajmohan Madhavan Hyungpil Moon Robert Robinson Craig Schlenoff Edson Silva, Jr. Walter Struppler Marcy Stutzman Wonpil Yu Copyright 2015 IEEE. All rights reserved. vi When the IEEE-SA Standards Board approved this standard on 3 September 2015, it had the following membersh
43、ip: John D. Kulick, Chair Jon Walter Rosdahl, Vice Chair Richard H. Hulett, Past Chair Konstantinos Karachalios, Secretary Masayuki Ariyoshi Ted Burse Stephen Dukes Jean-Philippe Faure J. Travis Griffith Gary Hoffman Michael Janezic Joseph L. Koepfinger* David J. Law Hung Ling Andrew Myles T. W. Ols
44、en Glenn Parsons Ronald C. Petersen Annette D. Reilly Stephen J. Shellhammer Adrian P. Stephens Yatin Trivedi Phillip Winston Don Wright Yu Yuan Daidi Zhong *Member Emeritus Copyright 2015 IEEE. All rights reserved. vii Introduction This introduction is not part of IEEE Std 1873-2015, IEEE Standard
45、for Robot Map Data Representation for Navigation. This standard specifies map data models and formats for robot navigation tasks. The standard provides specifications for representing two-dimensional (2D) metric and topological maps. A recommendation for exchanging map data among robots, computers,
46、and other devices is provided. To this end, the standard: a) Defines a hierarchy of terminologies related to two-dimensional robot maps for navigation in indoor and outdoor environments; b) Specifies a data model for each element of the hierarchy; and c) Specifies an XML format for map data exchange
47、 between different robots, computer systems, and devices. Three-dimensional, dynamic, and semantic maps are not considered in this standard, which is one possible extension thereof within the next few years to accommodate current technology development. The rest of this section provides introduction
48、 to robot maps, including a few typical use cases of robot maps. The map data representation (MDR) is explained in conjunction with robot navigation in 2D indoor and outdoor environments. Technical issues are also introduced to highlight the needs for this standardization. More specifically, the Bac
49、kground clause provides the background of MDR specifications. The Industry practices of MDR clause provides practical examples of robot navigation relevant to MDR specifications in the form of use cases. The Use case and benefit examples clause describes a typical use case in which a mobile robot utilizes a map for navigation tasks and indicates benefits that are obtained by standardization of MDR for robot navigation. Background One of the basic elements of robot navigation is a map with which a mobile robot can perform localization and motion planning. In order for the mobil
