Autonomous construction of hierarchical voronoi-based route graph representations

摘要: A route graph as proposed in Werner et al. (2000) is a spatial representation of the environment that focuses on integrating qualitatively different routes an agent can use for navigation. In this paper we describe how based generalized Voronoi diagram (GVD) be used mobile robot mapping and navigation tasks office-like indoor environment. We propose hierarchical organization structure resulting more abstract layers represent at coarser levels granularity. For purpose, define relevance measures to weight meet points GVD significant they are present algorithm utilizes these weights generate layers. Computation values from either complete or incomplete information about considered. Besides navigation, techniques developed employed other which representations advantageous, e.g. automatically generating descriptions floor plans.