이동로봇의 주행을 위한 토플로지컬 지도의 작성

Abstract

Map building is the process of modeling the robot's environment. The map is usually built based on a grid-based or topological approach, which has its own merits and demerits. These two methods, therefore, can be integrated to provide a better way of map building, which compensates for each other's drawbacks. In this paper, a method of building the topological map based on the occupancy grid map through a Voronoi diagram is presented and verified by various simulations. This Voronoi diagram is made by using a labeled Voronoi diagram scheme which is suitable for the occupancy grid maps. It is shown that the proposed method is efficient and simple for building a topological map. The simple path-planning problem is simulated and experimented verify validity of the proposed approach.