초음파 센서를 이용한 자율 주행 로봇의 위치 보정용 모델 기반 지도 작성

Model-based map building for localization of an autonomous mobile robot using an ultrasonic sensor

The objective of this paper is to make a model-based map for the localization of an autonomous mobile robot(AMR) from ultrasonic sensor measurements, that are acquired when the AMR explores unknown indoors. First, the AMR navigates on unknown space by wall-following and gathers range data from the ultrasonic sensor. Then, the range data are converted to a wall-marked gird map, from which lines representing the walls are extracted using the Hough transform. This process is implemented on an AMR having an ultrasonic sensor, and a preliminary experimental result is presented.