Map Building in Indoor Environment for Service Robot Based on Laser Sensor

Long Hui Wu; Shi Gang Cui; Li Zhao

doi:10.4028/www.scientific.net/AMR.461.671

Paper Titles

Study on the Drilling Formation Selection and Risk Analysis of the Directional Drilling
p.652

Characterization of the Quarternary Wavelet Wraps with Multi-Scale Factor and Applications in Physics
p.656

Simulation of Vibrating Forming Process of Concrete Brick Based on DEM
p.661

The Features of a Class of Orthogonal Multiple Vector Ternary Wavelet Wraps and Applications in Physics
p.666

Map Building in Indoor Environment for Service Robot Based on Laser Sensor
p.671

The Key Technology Research for the Microscopic Particles Image Analysis
p.677

Experimental Study on Axial Compression of FRP Confined Concrete Column
p.682

Nonlinear Identification Approach of Nonlinear Constitutive Model of Soil Material with Optimization Procedure
p.686

Study of Magnetic Levitation Spherical Reluctance Driving Joint with Inverse System Decoupling Control
p.690

HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 461Map Building in Indoor Environment for Service...

Map Building in Indoor Environment for Service Robot Based on Laser Sensor

Abstract:

Map building is an essential problem in the field of mobile robot research. The accurate environmental map provides the important safeguard for the robot autonomous navigation and localization. In this paper, the two-dimensional environment map based on geometric features information was built by laser data when service robot worked in indoor structured environment. However, this article focused on analyzing the method of line fitting in the process of building local map and the method of global map updating. The experiment indicated that this method has the high accuracy and effectiveness, also reduces error caused by the uncertain information in the process of map building, which makes the indoor environment map update in real time.

You might also be interested in these eBooks

Advanced Building Materials and Structural Engineering

View Preview

Info:

Periodical:

Advanced Materials Research (Volume 461)

Pages:

671-676

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.461.671

Citation:

Cite this paper

Online since:

February 2012

Authors:

Long Hui Wu, Shi Gang Cui, Li Zhao

Keywords:

Feature Extraction, Laser Sensor, Map Building, Service Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] World Robotics 2007. International Federation of Robotics.

Google Scholar

[2] G. Dissanayake, P. Newman, H.F. Durrant-Whyte, et al. A solution to the simultaneous localization and map building (SLAM) Problem. IEEE Transaction Robot and Automation, 2001, 17(3): 229-241.

DOI: 10.1109/70.938381

Google Scholar

[3] Leanard JJ, Durrant-whyte H.F. Mobile robot localization by tracking geometric beacons. IEEE Transaetions on Robotics and Automation, 1991, 7 (3): 376-382.

DOI: 10.1109/70.88147

Google Scholar

[4] Elfes A, Moravec H. High resolution maps from wide angle sonar[C]. IEEE International Conference of Robotic & Automation. 1985 P: 116-121.

DOI: 10.1109/robot.1985.1087316

Google Scholar

[5] Dieter Fox, Jonathan Ko, Kurt Konolige and Benjamin Stewart. A Hierarchical Bayesian Approach to the Revisiting Problem in Mobile Robot Map Building [J]. 2003, (4): 1-10.

DOI: 10.1007/11008941_7

Google Scholar

[6] Pioneer 3 Operations Manual. Mobile Robots Inc. version 3. January (2006).

Google Scholar