Method and autonomous mobile robot for generating indoor topology map

摘要

Disclosed are a method for generating an indoor topology map and an autonomous robot for the same. The indoor topology map generation method includes starting driving indoors, acquiring peripheral shape data using a lidar sensor, performing a loop closure test for the host travel path, and a closed loop test result. According to the steps of setting the scheduled driving route so that the route and the expected driving route do not intersect, the step of generating an indoor map using the acquired surrounding shape data when the driving is finished, and the indoor topology using the generated indoor map And creating a map.