표준화된 지도 데이터 표현방법을 이용한 위상지도와 격자지도의 병합
Merging of Topological Map and Grid Map using Standardized Map Data Representation
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초록
Mapping is a fundamental element for robotic services. There are available many types ofmap data representation such as grid map, metric map, topology map, etc. As more robots are deployedfor services, more chances of exchanging map data among the robots emerge and standardization ofmap data representation (MDR) becomes more valuable. Currently, activities in developing MDRstandard are underway in IEEE Robotics and Automation Society. The MDR standard is for a commonrepresentation and encoding of the two-dimensional map data used for navigation by mobile robots. Thestandard focuses on interchange of map data among components and systems, particularly those thatmay be supplied by different vendors. This paper aims to introduce MDR standard and its application tomap merging. We have applied the basic structure of the MDR standard to a grid map and Voronoigraph as a kind of topology map and performed map merging between two different maps. Simulationresults show that the proposed MDR is suitable for map data exchange among robots.
Abstract
Mapping is a fundamental element for robotic services. There are available many types ofmap data representation such as grid map, metric map, topology map, etc. As more robots are deployedfor services, more chances of exchanging map data among the robots emerge and standardization ofmap data representation (MDR) becomes more valuable. Currently, activities in developing MDRstandard are underway in IEEE Robotics and Automation Society. The MDR standard is for a commonrepresentation and encoding of the two-dimensional map data used for navigation by mobile robots. Thestandard focuses on interchange of map data among components and systems, particularly those thatmay be supplied by different vendors. This paper aims to introduce MDR standard and its application tomap merging. We have applied the basic structure of the MDR standard to a grid map and Voronoigraph as a kind of topology map and performed map merging between two different maps. Simulationresults show that the proposed MDR is suitable for map data exchange among robots.
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