基于自由空间中线法提取构建拓扑地图

首先利用激光传感器扫描数据,构建环境的以点阵表示的几何地图,然后在构建环境几何地图的基础上,利用提出的中线法抽取机器人所处环境的自由空间的拓扑结构,在拓扑节点构建时,加入机器人位姿信息,完成拓扑地图的构建。将该算法分别在Z型和T型环境中进行实验,构建环境几何地图,并抽取相应的拓扑结构。结果表明,该方法能够实时、安全、紧凑地表示环境。

Topological map building algorithm based on middle line of free space

Firstly, the paper constructed a metric map, which is represented by point sets, by using laser sensors to scan data. Secondly, a new algorithm named middle line of free space (MLFS) is proposed so as to extract the topological structure of the free space of the environment where the robots are. The posture of the robot is added into the node of the topology and the topological map is built. Experiments are carried out in both Z type and T type environments respectively, and the results proves that this algorithm is effective, in-time and compact to represent the environment.