A 3D map building algorithm using a single LRF on a mobile robot

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 uneven surface, which makes it very difficult to build the 3D map using encoder data. To cope with the dynamic change of the view angle in build 3D map, IMU and balance filters are combined to measure the accurate height 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 uneven surface. The effectiveness of the balance filter are also checked through the hill climbing navigations. Thus, a single LRF, IMU sensor and the balance filter by using, it is possible to draw three-dimensional map on uneven surface.