Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm

In this paper, we present a Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm. Firstly, Simultaneous Path Planning and Topological Mapping (SP²ATM) algorithm is applied for robot path planning and environment exploration with map construction incrementally. And at the same time, Rao-Blackwellized Particle Filter (RBPF) is utilized for robot´s localization to improve the effectiveness of the path planning by correcting the received data. Then to satisfy users´ needs and facilitate users, we develop SP²ATM component, RBPF component, Graphical User Interface (GUI) component and so on with Robot Technology Middleware (RTM). In this way, the users can use the function module only using the interface without understanding the details of encapsulated components. Finally, it is verified that this presented method is effective and convenient for users by analyzing experimental results on the robot platform.