基于激光传感器构建环境拓扑地图

摘要

Map building is a foundational task in the navigation area of the mobile robot. A new algorithm named middle line of free space ( MLFS) is proposed. Laser sensor is used to scan data and to built up metric map, environmental boundary on the basis of constructing metric map, divide scanned datas into four parts using robot as center. With the proposed algorithm, the topological map in the free space of the environment is extracted. Experiments show that this algorithm can effectively, real-time and compactly represent environment.%地图构建是移动机器人在未知环境中实现导航任务的基础.利用激光传感器扫描数据构建环境边界的几何地图,并在构建环境几何地图的基础上,将传感器的扫描数据以机器人为中心分割成4个区域,并利用提出的中线法抽取机器人所处环境自由空间的拓扑地图.实验表明:该方法能有效、实时、紧凑地表示环境.