초음파센서를 이용한 자율주행로봇의 위치보정용 모델기반 지도작성

초록

The objective of this paper is to make a model-based map for the localization of an autonomous mobile robot from ultrasonic sensor measurements that are acquired when the AMR explores unknown indoors. First, the AMR navigates on unknown space by wall-following and gathers range data from the ultrasonic sensor. Then, the range data are converted to a wall-marked grid map, from which lines representing the walls are extracted using the Hough transform. This process is implemented on an AMR having an ultrasonic sensor, and a preliminary experimental result is presented.