Autonomous robot for mapping using ultrasonic sensors

摘要

Robot mapping consists of using a robotic system to create a cartographic representation, or map, of an environment. The mapped environment may have different shapes, sizes, inclination, obstacles, it may be static or dynamic, and it might be previously known or not by the robot. This heterogeneity makes the mapping task a challenging one, but its outcomes are particularly useful. With a map, actions such as rescue, security, cleaning, and construction can be meticulously planned and executed, boosting the overall efficiency and accuracy of the task. The autonomous robot described in this paper is capable of autonomously gathering data of a previously unknown environment. Since it is autonomous, the robot does not need human input in its operation and uses wireless technology (Bluetooth) to communicate with a computing core while moving freely. The computer core uses this data to create a 2-D graphical map of the environment. The external state of the robot is perceived using ultrasonic sensors. Additionally, to accurately keep track of its position, the mapping robot uses a gyroscope sensor and a rotary encoder.