This paper presents an algorithm of local map building, for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder. and obtain an output data of the LASER range tinder for a given...
This paper presents an algorithm of local map building, for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder. and obtain an output data of the LASER range tinder for a given environment. From the output data, a local map is obtained through the following procedures: (1) filtering of output data to remove noisy and unnecessary data, (2) comparison of filtered data with the original data to restore useful data, (3) thickening of the map obtained from the restored data, and (4) skeletonizing of the thickened map to get a final local map. Through some simulation studies, a map is obtained from the LASER range finder information for a given indoor environment, and is compared with the environment.