Map Construction of a Mobile Robot Using Laser Range Finder
碩士 === 長庚大學 === 機械工程研究所 === 97 === This thesis aims at developing techniques of real-time 2D map construction for mobile robots using the URG-04LX laser range finder. The constructed map is useful for path planning and environment understanding, either by the robots or a remote operator. Before map...
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2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/72394763614637642638 |
| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 97 === This thesis aims at developing techniques of real-time 2D map construction for mobile robots using the URG-04LX laser range finder. The constructed map is useful for path planning and environment understanding, either by the robots or a remote operator. Before map construction, we designed several measurements to calibrate the laser range finder. The errors are approximated by a polynomial function to generate corrections for angle and distance scanned by the range finder. We show in this study that prediction plays an important role in finding correct translation and rotation parameters for registration between global map and local map in each step of map enhancement. By the proposed method that combines prediction and simplex optimization, error accumulation is reduced significantly.
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