Construction method of environmental topological map

The invention discloses a construction method of an environmental topological map. The method comprises the following steps: an indoor mobile robot saunters in the room to traverse the whole indoor environment, and acquires position coordinates of the robot every certain sampling time in the sauntering process, thereby obtaining the assembly of position coordinate points; the SOM (self-organizing map) is trained by using the position coordinate points to obtain a topological graph capable of primarily characterizing the environment; and neurons in the impediments and line segments for passing through the impediments are detected on the basis of the topological graph, and the points and line segments in the topological graph are removed, thereby obtaining the complete topological map capable of characterizing the environment. The constructed environmental topological map can be used for path planning for robot navigation, and can implement quick and efficient path planning. 本发明公开了种环境拓扑地图的构建方法，需要室内移动机器人在室内"闲逛"以