MATEC Web Conf.
Volume 160, 2018International Conference on Electrical Engineering, Control and Robotics (EECR 2018)
|Number of page(s)||6|
|Section||Intelligent Robot Design and Control|
|Published online||09 April 2018|
Adaptive GridMap Building Algorithm for Mobile Robot Based on Multiway Tree
Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
2 Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China
In order to solve the problem that uniform grid map occupies large storage space in the process of large-scale map creation, a new adaptive grid map building algorithm based on multiway tree is proposed. The environment map is divided into nine grids. The algorithm determines whether the grid is completely occupied, partially occupied or vacant. Then the part occupied gridsare further subdivided into smaller grids. The algorithm continues to determine whether the smaller grid is completely occupied, partially occupied or vacant.Repeat the above segmentation process until the entire map search is completed and the accuracy requirements are met. Finally, the scale of grid map does not depend on human experience but presenting adaptive characteristics. The algorithm is compared with the uniform grid method.The simulation results show that the algorithm has convergence.Andcompared with the uniform scale raster map, itgreatly saves the storage space.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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