Map Building to Plan the Path for Biped Robot in Unknown Environments Using Vision and Ultrasonic Sensors

비전과 초음파 센서를 이용한 임의 환경에서 2족 로봇의 경로계획을 위한 맵 빌딩

This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.