초음파센서를 이용한 자율주행로봇의 경로계획용 지도작성

초록

The objective of this paper is to make the weighted graph map for path planning using the ultrasonic sensor measurements that are acquired when an AMR explores the unknown circumstance. First, the AMR navigates on unknown space with wall-following and gathers the sensor data from the environments. After this, we construct the occupancy grip map by interpreting the gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupancy grid map using morphological image processing and thinning algorithm. This method is implemented on an AMR having an ultrasonic sensor.