Environment modeling based on AVBN method for mobile robot

The paper provides an environment-modeling method based on AVBN for a mobile robot. The environment model is illustrated as an AVBN (approximate Voronoi boundary network) constructed by enlarging the obstacle raster. Such topological model's connectivity is ensured by adding virtual obstacles. The number of AVBN's nodes is less than that of the generalized Voronoi diagram method, so the complexity of the path planning problem is reduced largely in comparison with the last method.