Environment mapping with laser-based and other sensors

Abstract

The purpose of the system is to create a vector map from the data given by proximity sensors. This map stores the environment data in a very compact and easily manageable form which is important for the fast navigation of a mobile robot. The multi level system supports different kinds of sensors and is able to create the map based on the data of these. The system is tested with a sonar and a laser based sensor which was planned and built by the authors (this sensor uses the principle of structured lightening).