A study of topological map generation method for cruiseassistsystem by mobile robot

摘要

This paper describes a new topological map generation method which can be applicable for cruise-assist system by mobile robot. The proposed system only requires a laser rangefinder and can automatically generate topological map based on Delaunay triangulation method. To confirm the proposed new topological map generation method, an electric wheelchair based mobile robot is used to implemented and tested. Experiments in indoor environment demonstrate validity and feasibility of the proposed methods of topological map generation.