A Study of World Map Building for Mobile Robot with Tri-Acral Ultrasonic Sensor System

세 개의 초음파 센서를 사용한 이동 로보트용 월드 맵 구성에 관한 연구

A new tri-aural ultrasonic sensor system is suggested to build more accurate world maps for mobile robots with less scanning. In ordinary single sensor systems, the inherent beam-width of sonar transmitter causes ambiguity in sensing direction. Dual sensors may be used to discriminate plane and corner with several scans. However, the proposed method uses triple sensors, and achieves more accuracy with less scanning.