Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Local Map Building Using the information of a Range Finder

영역 검출기 정보를 이용한 지역 지도 작성

  • 고낙용 (조선대학교 제어계측공학과) ;
  • 최웅 (조선대학교 제어계측공학과) ;
  • 최정상 (조선대학교 산업공학과)
  • Published : 2000.02.01
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Abstract

This paper presents an algorithm of local map building for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder, and obtain an output data of the LASER range finder for a given environment. From the output data, a local map is obtained through the following procedures: (1) filtering of output data to remove noisy and unnecessary data, (2) comparison of filtered data with the original data to restore useful data, (3) thickening of the map obtained from the restored data, and (4) skeletonizing of the thickened map to get a final local map. Through some simulation studies, a map is obtained from the LASER range finder information for a given indoor environment, and is compared with the environment.

Keywords

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