Extracting Topological Information from Grid Maps for Robot Navigation

D. Portugal and R. P. Rocha

In Proc. of 4th Int. Conf. on Agents and Artificial Intelligence (ICAART'2012), Vilamoura, Algarve, Portugal, pp. 137-143, Feb. 6-8, 2012. DOI: 10.5220/0003746401370143

Abstract

In many robotic navigation-related tasks, abstracting the environment where mobile robots carry out some mission can be of a great benefit. In particular, extracting a simple topological graph-like representation from a more complex and detailed metric map is often required for path-planning and navigation. In this work, an approach to perform such extraction in grid maps is presented. The focus is not only on obtaining a diagram or visual representation of possible paths, but also to propose a new way to obtain graph data information related to the connectivity of the environment that can be passed to robots or to a centralized planner, in order to assist the navigation task. The approach proposed is based on image processing techniques. Simulation results prove its simplicity, accuracy and efficiency.

Index Terms — Robot navigation, graphs, topological maps, Voronoi diagrams.

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BibTeX

@INPROCEEDINGS(Portugal_et_al_12a,

AUTHOR = "Portugal, D. and Rocha, R. P.",

TITLE = "Extracting Topological Information from Grid Maps for Robot Navigation",

BOOKTITLE = "Proc. of 4th Int. Conf. on Agents and Artificial Intelligence (ICAART'2012)",

ADDRESS = "Vilamoura, Algarve",

YEAR = "2012",

MONTH = "Feb.",

PAGES = "137-143"

)

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Last update: 29/02/2012