Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface

모바일 로봇의 경사 주행 시 3차원 지도작성 알고리즘

  • 황요섭 (부산대학교 전기전자공학부) ;
  • 한종호 (부산대학교 전기전자공학부) ;
  • 김현우 (부산대학교 전기전자공학부) ;
  • 이장명 (부산대학교 전기전자공학부)
  • Received : 2011.07.14
  • Accepted : 2011.12.14
  • Published : 2012.03.01
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Abstract

This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.

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References

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