Mobile Robot Topological Map Building Based on Thinning Algorithm
Xin Ma · Computer Technology and Development · 2009
In order to accomplish navigation and path planning,map building is the key technology and fundamental problem in mobile robotic control in unknown environment.Topological map uses a graph to represent the connectivity of an environment,and it provides a concise description.In this paper the topological map is built based on the grid map by using a thinning algorithm.The environment is modeled in grid map,next the thinning algorithm is applied in the map, and then the effective topological information is extracted.Moreover,the map is robust to environment change,because this map is extracted from a grid map rather than directly uses the original data of the sensor.Simulation results show that the topological map based on thinning algorithm is clear and succinct,and it also avoids producing unnecessary nodes and paths.This topological map stores much less information which will improve the ability of autonomous operation,navigation and path planning further.