Topological Map Generation based on Delaunay Triangulation for Mobile Robot

摘要

This paper describes a new topological map generation method for mobile robots. The proposed method requires only a laser rangefinder and can automatically generate topological maps based on Delaunay triangulation. By applying triangulation, allowable space can be easily and automatically detected. Based on detected allowable space, facilities structures are abstracted as landmark triangles, which, when detected, are analyzed to generate an appropriate allowable path and moving direction. The topological nodes based on landmark triangles can be converted into a local map as a useful tool for indoor mobile robot navigation. To confirm the proposed topological map generation method, an electric wheelchair based mobile robot is used for implementation and testing. Experiments in an indoor environment demonstrate the validity and feasibility of the proposed methods