A study of topological map generation based on laser ranging data for mobile robot

Yuki Tarutoko; Kazuyuki Kobayashi; Kajiro Watanabe

doi:10.14864/softscis.2006.0.321.0

SCIS & ISIS 2006

Session ID : TH-D3-1

DOI https://doi.org/10.14864/softscis.2006.0.321.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

TH-D3 Intelligent Control for Vehicle

A study of topological map generation based on laser ranging data for mobile robot

*Yuki Tarutoko, Kazuyuki Kobayashi, Kajiro Watanabe

Author information

Keywords: topological map, Delaunay triangulation method, mobile robot

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper describe a new topological map generation method for mobile robot. The proposed system only requires a laser rangefinder and can automatically generate topological map based on Delaunay triangulation method. To confirm the proposed new topological map generation method, an electric wheelchair based mobile robot is used to implemented and tested. Experiments in indoor environment demonstrate validity and feasibility of the proposed methods of topological map generation.

Corresponding author

Register with J-STAGE for free!