Topological map generation apparatus for navigation of robot and method thereof
AssigneeElectronics and Telecommunications Research Institute
InventorsYu-Cheol Lee, Won-Pil Yu, Song Li
Life of this patent
Estimating the term…
Abstract
Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.
Claims8
A method for generating a topological map for navigation of a robot, performed by an apparatus for building the topological map for the navigation of the robot, comprising:
- calculating a physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate;
- extracting physical coordinates of the single pixel on the metric map;
- building node data and edge data for navigation of the mobile robot using the physical coordinates and building a topological map for the navigation of the mobile robot based on the built node data and the built edge data;
- determining whether a future collision will occur on a path of the mobile robot corresponding to the node data and the edge data;
- and
- modifying the path of the mobile robot when it is determined that the future collision will occur,
- wherein
- map regions in which an obstacle is present are represented in a first color and map regions in which obstacles are not present are represented in a second color, and
- determining whether the future collision will occur is configured to:
- select a first collision determination method if the mobile robot can rotate in place and move in any direction of the mobile robot,
- select a second collision determination method if the mobile robot can rotate in place and move only in a specific direction of the mobile robot, and
- select a third collision determination method if the mobile robot cannot rotate in place.
An apparatus for generating a topological map for navigation of a robot, comprising:
- a physical coordinates extraction unit for calculating a physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate and for extracting physical coordinates of the single pixel on the metric map;
- a topological map generation unit for building node data and edge data for navigation of the mobile robot using the physical coordinates and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data;
- and
- a collision-avoidance unit for determining whether a future collision will occur on a path of the mobile robot corresponding to the node data and the edge data and modifying the path of the mobile robot when it is determined that the future collision will occur,
- wherein
- map regions in which an obstacle is present are represented in a first color and map regions in which obstacles are not present are represented in a second color, and
- the collision-avoidance unit selects a first collision determination method if the mobile robot can rotate in place and move in any direction of the mobile robot, selects a second collision determination method if the mobile robot can rotate in place and move only in a specific direction of the mobile robot, and selects a third collision determination method if the mobile robot cannot rotate in place.
Dependencies are inferred from the claim text.