Automatic map generation with mobile robot

Abstract

A method is described by which a mobile robot acquires an environment map by walking around the given environment for itself. The mobile robot in the paper is able to translate and rotate and has 3 DOF with respect to the x and y coordinates and the rotational angle around the z axis. It is equipped with a laser range sensor, ultrasonic wave sensors, infrared radiation sensors and contact sensors. Every time it moves the displacement error accumulates. So a map generated becomes incorrect due to the influence of the error. A method is proposed in which the displacement error is revised and a correct map is acquired by exploiting a laser range sensor. The method for the generation of locus and the running control of the mobile robot referring to the map acquired are also proposed.