Compact and Efficient Topological Mapping for Large-Scale Environment with Pruned Voronoi Diagram

Compact and Efficient Topological Mapping for Large-Scale Environment with Pruned Voronoi Diagram

Topological maps generated in complex and irregular unknown environments are meaningful for autonomous robots’ navigation. To obtain the skeleton of the environment without obstacle polygon extraction and clustering, we propose a method to obtain high-quality topological maps using only pure Voronoi...

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Bibliographic Details
Main Authors: Yao Qi, Rendong Wang, Binbing He, Feng Lu, Youchun Xu
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Drones
Subjects:
topological maps
generalized Voronoi diagram
largest empty circle
unstructured environment
large-scale environment
Online Access:https://www.mdpi.com/2504-446X/6/7/183

Internet

https://www.mdpi.com/2504-446X/6/7/183

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