Post Processing Low Resolution Map Using in Autonomous Mobile Robot

Nowadays, automatic robots have a great deal of contribution in meeting human daily task demands. Having appropriate map about environment is necessary for mobile robots in terms of robots type and limitations. Topological maps are cost effective computationally, obtained paths from these types of maps, however are sub-optimal and in respect to much more distances between nodes, in case of change, robots belief for positioning and path modification is inaccurate. On the other hand, in grid based map optimized method can be found and accurate positioning might be done. But path planning cost in such maps is too much depending on map resolution and the more map resolution, the more path calculation time in exponentially manner. In the present paper, first we deal with required algorithms to guiding autonomous robots, then the obtained paths from grid based map in low resolution have been improved using split and merge algorithm