Indoor Scanning and Mapping using Mobile Robot and RP Lidar

Abstract

The environment scanning has been important in a mobile robot studies and applications that may help people to investigate, monitor and study a variety of environments such as an unexplored, hazardous, dynamic, cluttered and others.The main issue regarding this research is the efficiency of the mobile robot system and the accuracy of the front-end sensor.This paper presents a work on the development of a mobile robot for the environment scanning purposes where a laser range finder (LRF) is utilized as its scanning sensor.The development of the mobile robot system will be explained here which consists of the hardware / software, the path following navigation and the integration of the LRF system.Three environments were used as the testbeda corridor, a research lab and a robotic lab.The scanning results are presented in local map and global map which are plotted by using MATLAB software.It is found out that the plotted maps are similar to the real environment, which can be concluded that the developed mobile robot with the LRF is a success and can be used in real applications.