计算机工程与科学2013，Vol.35Issue(4)：70-74,5.DOI:10.3969/j.issn.1007-130X.2013.04.013
基于自由空间中线法提取构建拓扑地图
Topological map building algorithm based on middle line of free space
摘要
Abstract
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.关键词
移动机器人/中线法/拓扑地图Key words
mobile robot/middle line of free space/topological map分类
信息技术与安全科学引用本文复制引用
苏丽颖,宋华磊..基于自由空间中线法提取构建拓扑地图[J].计算机工程与科学,2013,35(4):70-74,5.基金项目
教育部留学回国人员科研启动基金资助项目 （）
