Construction of a road graph for routing mobile robot in a closed system of corridors

Abstract

Construction of a road graph for routing mobile robot in a closed system of corridors

Shchegoleva L.V., Voronov R.V.

Incoming article date: 31.08.2015

Two approaches are proposed for constructing a road graph for routing mobile robot in a closed system of corridors with a focus on the use of the robot computer vision to identify the entrances to the rooms from the hallway. In the first version of the graph the vertices correspond to the two types of objects: connection points (branching intersection) corridors and location of entrances - each input corresponds to only one vertex. The second version for the formation of the graph allows to concider returns of the robot and the robot motion in the joints of the corridors. For each room's entry formed two vertices to describe the robot motion in all directions.

Keywords: routing, road graph, mobile robot