Self-generation by a Mobile Robot of Topological Maps of Corridors

Abstract-- In the present paper a system for generation of topological maps is going to be presented. This system is considered as one of the deliberative skills of the mobile robots architecture named AD. AD is a two level architecture: deliberative and automatic. Those skills which require high computational time as consequence of high level reasoning are found in the deliberative level, while the automatic level skills interacts with robot sensors and actuators. The topological map generated with this deliberative skill is the map belonging to the EDN navigation system, and is named Navigation Chart. In the Navigation Chart, the information obtained from the chart is stored as nodes and as edges. Nodes correspond to the sensorial events and edges correspond to the sensorimotor skills. Keywords—Mobile robots, robot skills, robot navigation, environment modeling