2D map creator for robot navigation by utilizing Kinect and rotary encoder

摘要

2D map creator for robot navigation is used for robot to move around the surrounding without any collision. Typical robot navigation is relied on ultrasonic sensor as well as rotary encoder. In this paper, we present 2D map creator system for robot navigation based on Kinect device and rotary encoder. 2D map creator system allows robot for self-mapping the surrounding area while robot is moving around. The output is a 2-dimensional (2D) map representing areas that have been passed by the robot. Next, the map is used by robot to return to home automatically. Moreover, we present a technique in map creator system for robot navigation. The Kinect device and rotary encoder are placed on the robot. The depth image is utilized to distinguish between obstacle and non-obstacle object. The combination between depth image and rotary encoder produce a 2D map used for robot navigation. We use Djikstra algorithm for calculating the shortest way between robot positions and home position. Our system has been tested under laboratory environment. The effective distance range is 60 to 600 Cm. Our rotary encoder sensor is also successfully realized and has average error 5.05%. Our 2D map creator required 1.46 second for every creating map at one location. Also, it has 2.23% of error distance on 2D map. All experiment results show that our 2D map creator is ready for performing return to home automatically.