This paper deals with local map building method using obstacle detecting sensors such as laser scanner, camera, and ultra sonic sensor for unmanned ground vehicle(UGV). The UGV is consists of several systems. For example navigation system, obstacle de...
This paper deals with local map building method using obstacle detecting sensors such as laser scanner, camera, and ultra sonic sensor for unmanned ground vehicle(UGV). The UGV is consists of several systems. For example navigation system, obstacle detecting system, vehicle control system and arbiter system. Among the systems, obstacle detecting system is to detect obstacles in front of the vehicle using obstacle detecting sensors. These sensors generate various types of output data. So fusing sensors data is vary important. The local map is good for adding the sensors data. In this paper, we introduce our UGV systems and local map building method for sensor data fusing.