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Research on Topological Map Building for Mobile Robots

Author: WangNa
Tutor: MaZuo
School: Shandong University
Course: Detection Technology and Automation
Keywords: Topological Map Building Voronoi Graph Thinning Algorithm Topological Map Merging Image Registration ICP Algorithm
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 217
Quote: 1
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Abstract


With the fast development of science and technology, mobile robots which can autonomously accomplish tasks in unknown environment are widely used in many fields, such as industry, civilian life and military. Especially in unknown large-scale environments, more intelligent and autonomous mobile robots are expected to explore their environments, build maps of environments, and then use the maps to navigate and do other complicated work. Map building is the key technology and fundamental problem in mobile robots. Also, this embodies the perception ability and intelligence of robots. We focus on the related problems of topological map building in unknown environment. The main studies undertaken in this thesis are listed as follows:Firstly, the dissertation reviews the research background, the research situation and the present problem of map building of mobile robot. The main contents of this thesis are described briefly.Secondly, topological map is built based on thinning algorithm which is commonly used in image processing of pattern recognition. This avoids producing unnecessary 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. Simulation results show that the topological map based on thinning is clear and succinct. Moreover this topological map reduces information storage memory. This will improve the ability of autonomous operation, navigation and path planning further.Thirdly, we have done some research work on topological map merging for multi mobile robot. The paper implements the topological map merging process for mobile robots when the robots do not have a common reference frame or global positioning. Our algorithm uses the geometric structure of topological maps to determine the best correspondence between maps with overlapping regions. The approach to this problem draws from the areas of image registration. Image registration combining with exhaustive searching method is adopted to complete regular topological map merging. ICP algorithm which is classical in image registration combining with SVD is adopted to complete general topological map merging. Several experiments demonstrate the efficacy of our algorithm.Finally, conclusions are provided. Outlook of future research is analyzed.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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