METHOD AND APPARATUS FOR BUILDING OF A THINNING-BASED TOPOLOGICAL MAP, METHOD AND APPARATUS FOR BUILDING OF THINNING-BASED TOPOLOGICAL MAP USING TOPOLOGICAL EXPLORATION FOR A MOBILE ROBOT

摘要

The present invention relates to a method for producing a thinning-based phase map, and an apparatus and an exploration method using the phase map of a mobile robot.;The thinning-based phase map preparation method according to the present invention comprises the steps of (a) generating a grid map, (b) changing the occupancy probability of the grids corresponding to the position of the obstacle, (c) the occupant grid occupied by the obstacle (B) extracting an edge located at an intermediate point of the non-occupied space of the grid map, and (e) a terminal node among the non-occupied grids constituting the edge. And extracting the branch node and the corner node to create a phase map, and the phase mapping method of the thinning-based mobile robot according to the present invention includes (f) end nodes not visited in the above steps as destinations, The method may further include repeating steps (b) to (e) while moving the edge of the shortest distance as a movement path.;According to the present invention, by applying a thinning technique to the isolated map based on the information detected from the distance sensor of the robot, it is possible to extract phase information such as edges and nodes in real time, and to generate a phase map based on this. .