Path Extraction for Autonomous Mobile Robot Using Skeletonization

Abstract

One of the most important tasks regarding autonomous mobile robots is to plan a path for movement. Given a pre-built map, a robot is able to follow a path that is determined manually by setting way points on the map prior to exploration. However, for cases without pre-built maps, a robot has to derive its path while traveling autonomously and analyzing the surrouding environment. In this paper, we propose a method of path planning for autonomous movement under unknown environments in the case where a pre-built map does not exist. This system successfully determines way points on a road following the skeleton extracted by combining multiple data processing algorithms.