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http://dx.doi.org/10.5302/J.ICROS.2012.18.3.243

A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface  

Hwang, Yo-Seop (Pusan National University)
Han, Jong-Ho (Pusan National University)
Kim, Hyun-Woo (Pusan National University)
Lee, Jang-Myung (Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.3, 2012 , pp. 243-250 More about this Journal
Abstract
This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.
Keywords
3D map-building; mobile robot; LRF; balance filters; slanted surface;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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