Topological Map Building Based on Areal Voronoi Graph

영역 보로노이 그래프를 기반한 위상 지도 작성

Map building is essential to a mobile robot navigation system. Localization and path planning methods depend on map building strategies. A topological map is commonly constructed using the GVG(Generalized Voronoi Graph). The advantage of the GVG based topological map is compactness. But the GVG method have many difficulties because it consists of collision-free path. In this paper, we proposed an extended map building method, the AVG (Areal Voronoi Graph) based topological map. The AVG based topological map consists of collision-free area. This feature can improve map building, localization and path planning performance.