세선화 기법을 이용한 전역 토폴로지컬 지도의 작성 및 위치 추적

다국어 초록 (Multilingual Abstract)

Topological maps have drawn more attention recently because they are compact, provide natural interfaces,<br/>
and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was<br/>
used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped<br/>
objects and needs long computation time. In this paper, we present a new method for global topological map<br/>
from the local topological maps incrementally. The local topological maps are created through a thinning<br/>
algorithm from a local grid map, which is built based on the sensor information at the current robot position.<br/>
A thinning method requires simpler computation than the Voronoi diagram. Localization based on the<br/>
topological map is usually difficult, but additional nodes created by the thinning method can improve<br/>
localization performance. A series of experiments have been conducted using a two-wheeled mobile robot<br/>
equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

목차 (Table of Contents)

• Abstract
  
• 1. 서론
  
• 2. 토폴로지컬 지도의 작성
  
• 3. 토폴로지컬 지도를 이용한 위치추적 및 최적 경로계획
  
• 4. 실험 결과 및 토의
  
• 5. 결론
  
• 후기
  
• 참고문헌