Title :
Automatic map generation with mobile robot
Author :
Matsuo, Takatomo ; Tanaka, Kazuaki ; Abe, Norihiro
Author_Institution :
Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Iizuka, Japan
Abstract :
A method is described by which a mobile robot acquires an environment map by walking around the given environment for itself. The mobile robot in the paper is able to translate and rotate and has 3 DOF with respect to the x and y coordinates and the rotational angle around the z axis. It is equipped with a laser range sensor, ultrasonic wave sensors, infrared radiation sensors and contact sensors. Every time it moves the displacement error accumulates. So a map generated becomes incorrect due to the influence of the error. A method is proposed in which the displacement error is revised and a correct map is acquired by exploiting a laser range sensor. The method for the generation of locus and the running control of the mobile robot referring to the map acquired are also proposed
Keywords :
image segmentation; infrared detectors; laser ranging; mobile robots; ultrasonic transducers; 3 DOF robot; automatic map generation; contact sensors; displacement error; environment map; infrared radiation sensors; laser range sensor; rotational angle; ultrasonic wave sensors; Computer science; Error correction; Infrared sensors; Legged locomotion; Mobile robots; Robot kinematics; Robot sensing systems; Sensor systems; Systems engineering and theory; Ultrasonic variables measurement;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812486
