A method of map building based on sonar and human-robot interaction

This paper proposed a method of map building combined sonar and human-robot interaction. Robot builds the border of an unknown environment by its sonar, and then a user controls the robot to walk forward, back, left and right so that the robot is able to walk around an obstacle along its border. By this way, the robot walks around all obstacles in the environment one by one while a map building method is responsible for recording the border and updating the grid map. The proposed method is implemented on the platform “FutureStar” from Beijing Bochuang. The map built by this algorithm is used for complete coverage path planning on intelligent cleaning robot. The experiment shows the proposed method is easy to operate and achieve, at the same time the map is almost accurate.