TOPOLOGICAL MAPPING AND NAVIGATION METHOD OF MOBILE ROBOT IN HOME ENVIRONMENT

摘要

The present invention relates to a topological map formation and driving method for a mobile robot in a home environment to efficiently map and autonomously travel.;The present invention provides a topological map formation and autonomous driving method of a mobile robot in a home environment.;The topological map formation and autonomous driving method,;Using an edge having a width that can be passed by the mobile robot but having a limited width, and a node which is surrounded by obstacles and which can move to another node through the edge; The topological map forming method recognizes an edge using information from sensors and forms a topological map around the edges;;In order to form the topological map,;Basically move along the wall to locate the edges, divide the node area, and form a map for the node area; After moving to another node through the edge, it is characterized by repeating the process of removing the wrong edges.;Using the present invention as described above, there is provided a topological map formation and driving method for the mobile robot to efficiently map and autonomously travel in a home environment.;Home Environment, Mobile Robot, Mapping, Autonomous Driving