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http://dx.doi.org/10.5302/J.ICROS.2002.8.6.492

Topological Map Building for Mobile Robot Navigation  

최창혁 (고려대학교 대학원 기계공학과)
이진선 (고려대학교 대학원 기계공학과)
송재복 (고려대학교 대학원 기계공학과)
정우진 (KIST 휴먼로봇센터)
김문상 (KIST 휴먼로봇센터)
박성기 (KIST 휴먼로봇센터)
최종석 (KIST 휴먼로봇센터)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.6, 2002 , pp. 492-497 More about this Journal
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 fur building a topological map. The simple path-planning problem is simulated and experimented verify validity of the proposed approach.
Keywords
topological map; occupancy grid map; Voronoi diagram; mobile robot navigation;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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