Research Study of Occupancy Grid map Mapping Method on Hector SLAM Technique

摘要

This research focuses on mapping at indoor environment where differential drive mobile robots are used as a vehicle. The unknown environment to robots is a problem in robotics, therefore the grid map occupancy method was used as mapping method in unknown environment, so that robots can represent the results of environmental mapping using LIDAR sensors to a 2D map. The experiment done by the mobile robot was equipped with a LIDAR sensor as a sensor for retrieving data around the robot where the robot was instructed to explore the corridor inside a building and do mapping in real time. After experiment done, this method successfully mapped the environment around the robot with an average mapping error 6.05 cm.