Development of Fast Map Building Algorithm for Merchandise Location Guiding Mobile Robot

摘要

In the public space, we need first of all the map building to guide the person into the desired position. For realizing this functionality, we propose the fast map building method combining the wall following algorithm and the segment estimation algorithm. First, the process of fast map building algorithm is introduced and secondly, the navigation algorithm for following the surface of a wall by IR sensors is proposed and local map building method by estimation of line segment is shown. We derive the correlation between the orthogonal wall distance and IR sensor data using trigonometric functions and the similarity ratio of a triangle. Finally, we verify that our proposed method is sufficiently valid as describing the experimental results using our developed mobile robot platform, GIMOR(GIST Mobile Robot)-I