Abstract:

Firstly, the paper constructed a metric map, which is represented by point sets, by using laser sensors to scan data. Secondly, a new algorithm named middle line of free space (MLFS) is proposed so as to extract the topological structure of the free space of the environment where the robots are. The posture of the robot is added into the node of the topology and the topological map is built. Experiments are carried out in both Z type and T type environments respectively, and the results proves that this algorithm is effective, intime and compact to represent the environment.                             

Key words: mobile robot;middle line of free space;topological map