Construction method of line segment based map with sonar sensor

A approach to construct a map with line segments is addressed in this paper. Generating and merging algorithms are proposed for a mobile robot with sonar sensors to represent the environment with line segments. A new definition of distance for a point to a line segment is given, with which the construction algorithms are simplified. Some remarks about the construction algorithms are presented. Experimental results show that the proposed constructing approach is effective and the line segments based map can be applied to generate a Voronoi diagram as to get a accessible path with obstacle avoiding for the AmigoBot.