In the human–machine interactive scene of the service robot, obstacle information and destination information are both required, and both kinds of information need to be saved and used at the same time. In order to solve this problem, this paper proposes a topological map construction pipeline based on regional dynamic growth and a map representation method based on the conical space model. Based on the metric map, the construction pipeline can initialize the region growth point on the trajectory of the mobile robot. Next, the topological region is divided by the region dynamic growth algorithm, the map structure is simplified by the minimum spanning tree, and the similar region is merged by the region merging algorithm. After that, the parameter TM (topological information in the map) and the parameter OM (occupied information in the map) are used to represent the topological information and the occupied information. Finally, a topological map represented by the colored picture is saved by converting to color information. It is highlighted that the topological map construction pipeline is not limited by the structure of the environment, and can be automatically adjusted according to the actual environment structure. What’s more, the topological map representation method can save two kinds of map information at the same time, which simplifies the map representation structure. The experimental results show that the map construction method is flexible, and that resources such as calculation and storage are less consumed. The map representation method is convenient to use and improves the efficiency of the map in preservation.
Topological Map Construction Based on Region Dynamic Growing and Map Representation Method
