Making a map for mobile robot using laser rangefinder

Author

Haffner, Oto ; Duchon, F.

Author_Institution

Fac. of Electr. Eng. & Inf. Technol., Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia

fYear

2014

fDate

3-5 Sept. 2014

Firstpage

1

Lastpage

7

Abstract

A robot needs to have a representation of the environment to free of collision move. There are different types of environment maps in mobile robotics. The most used ones are metric maps. The aim of this paper is the proposal of algorithms for real robotic system that can map the environment. In this paper we deal with the analysis of properties of the laser scanner and the making of its model. Further there is proposed a method for making map based on the properties of the scanner and program implementation of this method. The result of this work is a program that maps the environment and which is usable on real robot system.

Keywords

collision avoidance; laser ranging; mobile robots; optical scanners; collision move; environment maps; laser rangefinder; laser scanner; mobile robot; program implementation; real robot system; Laser modes; Measurement by laser beam; Position measurement; Robot kinematics; Robot sensing systems; environment; laser; map; mapping; rangefinder;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on

Conference_Location

Smolenice

Print_ISBN

978-1-4799-6797-1

Type

conf

DOI

10.1109/RAAD.2014.7002232

Filename

7002232