Mobile Robot Localization and Map Building for a Nonholonomic Mobile Robot

Abstract

Map building is a very important issue for mobile robot performing a task. It was difficult to generate an accurate map although many sensors or complicated system were used. This paper proposed a method of map building using interactive GUI for an indoor service mobile robot. The developed system enabled the operator to modify map built by LRF, compared with the real-time video from web camera if there was some errors in map because of misrecognition of sensors. We developed Extended Kalman Filter to improve the precision of the self-localization of mobile robot. The simulation and experimental results verified the effectiveness of the developed system. The current system just enabled the local