대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 하계학술대회 논문집 D
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- Pages.2450-2452
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- 2004
영역 보로노이 그래프를 기반한 위상 지도 작성
Topological Map Building Based on Areal Voronoi Graph
- Son, Young-Jun (ISR Lab., Dept. of Electrical Eng., Korea Univ.) ;
- Park, Gwi-Tae (ISR Lab., Dept. of Electrical Eng., Korea Univ.)
- 발행 : 2004.07.14
초록
Map building is essential to a mobile robot navigation system. Localization and path planning methods depend on map building strategies. A topological map is commonly constructed using the GVG(Generalized Voronoi Graph). The advantage of the GVG based topological map is compactness. But the GVG method have many difficulties because it consists of collision-free path. In this paper, we proposed an extended map building method, the AVG (Areal Voronoi Graph) based topological map. The AVG based topological map consists of collision-free area. This feature can improve map building, localization and path planning performance.
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