Topology Mapping and Connectivity Detection for Autonomous Mobile Robot Systems
Jingfu Hou, Ziyan Zhao, Shixin Liu, Dawei Yang · 2024
Autonomous Mobile Robots (AMRs) are continuously improving the efficiency of logistics and material handling in smart manufacturing plants. However, it is still a very challenging task for AMR systems to create suitable and reliable maps with high robustness. AMR places stringent requirements on matching the accuracy of the map with the accuracy of the robot’s task execution. In this paper, we propose a way to create maps for AMRs. A laser sensor is used to obtain a SLAM base map and construct a topology map on top of it. It can effectively cope with complex factory environments and support complex tasks. In addition, this paper proposes a topological map connectivity detection algorithm based on Tarjan’s algorithm for detecting the correctness of AMR maps. The algorithm is improved based on the obtained algorithm. The results show that the improved algorithm can verify the correctness of AMR maps in a shorter time.