Topological Map Building Based on Thinning

Na Wang; Hai Yan Wang; Qing Qing Zhu

doi:10.4028/www.scientific.net/AMM.668-669.384

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 668-669Topological Map Building Based on Thinning

Topological Map Building Based on Thinning

Abstract:

In order to accomplish navigation and path planning, map building is the key technology and fundamental problem in mobile robotic control in unknown environment. 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. Simulation results show that the topological map based on thinning 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.

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Periodical:

Applied Mechanics and Materials (Volumes 668-669)

Pages:

384-387

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.668-669.384

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Online since:

October 2014

Authors:

Na Wang, Hai Yan Wang, Qing Qing Zhu

Keywords:

Mobile Robot, Thinning Algorithm, Topological Map, Voronoi

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