2P1-C30 Localization and Mapping for Fast Mobile Robots with 2D Laser Range Finder

摘要

Our research objective is localization and mapping for rescue crawler robot in unknown environment. The problem is well known as SLAM problem. For solving the problem, the robot position and environment shape are measured by odometry and LRF respectively. Odometry's error is corrected by matching these shape data. Map is constructed from these shapes and the modified robot position. However, odometry can not be used for measurement of our crawler robot's position because the crawler has crawlers and wheels as locomotion. In this paper, the authors present our approach for measurement of its position and construction of the map. Concretely, the authors measure its position by matching 2D scan data measured at different points. Moreover, we correct the scan's distortion caused by robot movement.