Algoritms for Environment Maps of Mobile Robot

Abstract

Robot needs to have some representation of the environment to free of collision move. There are different types of environment maps in mobile robotics however the most used are metric maps. The aim of this work is the proposal of algorithms, for real robotic system, that can map the environment. In this work we deal with the analysis of properties of the laser scanner and the making of its model. Further a method is proposed for making map based on the properties of the scanner and program implementation of this method. The result of this work is a program that maps the environment and which is usable on real robot system.