GENERATING 2-D SPACE MAPS FROM UNKNOWN ENVIRONMENTS

Abstract

This paper deals with the development of 2-D space maps during navigation in unknown environments, by synthesizing the shapes of consecutive free spaces. Each shape extracted from each current-free navigation space is represented by attributed graphs. Thus, the synthesis of the shapes is based on the synthesis of graphs for the generation of new graph forms that represent the new shape traveled by an autonomous robot. Illustrative examples from a space with obstacles are presented.