Autonomous mapping and navigation system in rooms and corridors for indoor support robots

摘要

In this research, the mapping and navigation system in a wide space in a building for mobile robots which have laser range finders and stereo cameras was achieved. The map was described as a combination of topological corridor maps and metric room maps. The topological corridor maps have nodes which represent entrances of each room, and the grid-based room maps have accurate information about positions of obstacles. Using this mapping method, we achieved the system of indoor support humanoid which can perform several tasks with long-distance movement.