초음파 센서를 이용한 자율 주행 로봇의 경로 계획용 지도 작성

초록

The objective of this paper is to make the weighted graph map for path planning using the ultra sonic sensor measurement that are acquired when an A.M.R(autonomous mobile robot) explores the unknown circumstance. First, The A.M.R navigates on unkown space with wall-following and gathers the sensor data from the environments. After this, We construct the occupancy grid map by interpreting gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupncy grid map using morphological image processing and thinning algorithm. This method is implemented on an A.M.R having a ultrasonic sensor