Laser-based mobile robot map building

Abstract

This paper presents a new Laser-Based method to resolve the problem of robot map building. The method builds the map of the unknown environment by splicing the laser data which has been tested to be valid and reliable with combination of the position and orientation of robot. And then uses the method of rasterization to digitize the static map, providing a base for robot path planning and navigation. The experiment results shows that the method is simple and can maintain the details of unknown environment preferably. © 2012 Springer-Verlag GmbH Berlin Heidelberg.