Extraction of Topological Map Based on the Characteristic Corners from Grid Environment Exploration

More and more robot tasks extend to unknown environments. Extraction of the topological map from the robot exploration results of an unknown environment is of great importance for the completion of robot path-planning tasks. In this research, a robot explores the environment and builds a grid map in the simulation experiments; the building of topological map based on the features of the grid map is studied. A new method is proposed that the grid environment be classified to 8 basic types of concave and protruding corners and the 8 basic types be defined by mathematical equations. According to the definition a strategy is designed to divide the grid map into s and a topological map of the environment is built