Map building based on clustering method for mobile robots

A new laser scan matching method based on clustering is advanced. It takes the advantages of both non-iterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature points extracted from the scans and then completes the whole map building. In the experiment using the rescue robot developed in our lab, it shows that the new method can accomplish the task of real-time map building in an indoor environment accurately and effectively.