Making an environment map using laser rangefinder

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.