Topological map building for mobile robots based on thining algorithm

Abstract

With the development of science and technology, mobile robots have more and more extensive applications to complete the task in unknown environment. Create the environmental map of the unknown space is a key to control and navigation of mobile robots. We focus on the related problems of topological map building in unknown environment. The main studies undertaken in this paper are listed as follows: firstly, the paper introduces the research background and points out the present problems of map building. Secondly, topological map is built based on thinning algorithm which is commonly used in image processing of recognition. This avoids producing un-necessary nodes and paths. The environment is modeled in grid map, next the thinning algorithm is applied in the map, and then the effective topological information is extracted. Finally, simulation results show that the topological map based on thinning is clear, simple and effective. Moreover this topological map reduces information storage memory. This will improve the ability of autonomous operation, navigation and path planning further.