2D occupancy grid mapping with inverse range sensor model

Abstract

This paper describes a system for occupancy grid mapping using an autonomous mobile robot equipped with laser range finder. The approach depicted in this article is the occupancy grid mapping with inverse range sensor model. A complex real time system is developed that exchange and process data between the NI robotics starter kit and an external host computer through TCP layer. All programs are developed using labVIEW. Although, the results were not as expected, the resulting maps can give an approximation of the environment of navigation. The inaccuracy of the maps is explained by the reliance on the odometry data for localization, which makes clear the necessity of simultaneous localization and mapping techniques in the field of autonomous navigation.