Japan 3-D Map Building in Dynamic Environments by a Mobile Robot Equipped with Two Laser Range Finders

When an autonomous mobile robot acts in constructed environments, a map that has the information about obstacles is necessary for the mobile robot. Even if a map is given, however, the mobile robot cannot start its action without the information of its present location on the map. Therefore, techniques of map generation and self-localization are important for mobile robots. In this paper, we propose 3-D SLAM (Simultaneous Localization and Mapping) method by a mobile robot equipped with two LRFs (Laser Range Finders). The robot measures the distance between obstacles around it with LRFs at multiple positions, and generates a map by integrating these range information. The integration is realized by using an odometry (dead-reckoning method) and ICP (Iterative Closest Point) algorithm. Experimental results have shown the validity of the proposed method.

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