Building a Self-Adjusted Map for Mobile Robot Navigation

Ke Xu,Lei Zhang,Ruiqing Fu,Yongsheng Ou,Xinyu Wu

GCIS), 2010 Second WRI Global Congress（2010）

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摘要

An accurate map is essential to autonomous mobile robots. Two of the most popular map types are Occupancy Grid Map (OGM) and Topological Map (TM). However, the OGM is inefficient since it requires a large amount of memory to represent the environment. The TM, on the other hand, is difficult to apply to accurate navigation and location because it lacks environmental information. In this paper, a self-adjusted mapping method is proposed with integrating the two map types. It navigates the robot more efficiently than an OGM, and more accurately than a TM. With this new map type, a reliable path could be obtained in real-time. Simulation experiments validate its efficiency and reliability.

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关键词

occupancy grid map,accurate navigation,accurate map,mobile robot navigation,self-adjusted map,popular map type,new map type,map type,large amount,environmental information,topological map,autonomous mobile robot,path planning,navigation,algorithm design and analysis,mobile robot,particle swarm optimization,occupancy grid,mobile robots

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