The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Topological Modeling using Sonar Grid Map

초음파 격자 지도를 이용한 위상학적 지도 작성 기법 개발

  • 최진우 (포항공과대학교 기계공학과) ;
  • 최민용 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Received : 2011.02.16
  • Accepted : 2011.04.25
  • Published : 2011.05.31
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Abstract

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

Keywords

References

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