Research On Map Building For Mobile Robot Based On Laser Range Data

The problem of the map building based on laser scanning data is mainly researched in this paper. By using laser range finder to scan the indoor environment, mobile robot obtain the laser scanning data, we divided map building into two parts: the pretreatment of the laser scanning data point set and the registration of the laser scanning data point set.First, the process of the pretreatment of he laser scanning data, for the requirement of precision and real time. We use the Euclidean distance between data points for the segmentation, use Line-Tracking with dynamic threshold for line extraction, which effectively reduces the impact of the noise on the line extraction and avoid causing poor accuracy of line extraction and poor integrity of the line from the improper selection of fixed threshold.Second, for the problem of excessive calculation and the low efficiency of matching. Address these issues, the matching step is divided two parts: preparative matching step and precise matching step. In the preparative matching step, we use the point-point iterative matching algorithm. In precise matching step, we use the ICP iterative matching algorithm, and make corresponding improvement.In the preparative matching step, we use the improved point-point iterative matching algorithm to improve the speed of matching under the premise of ensuring the accuracy.In precise matching step, the improved ICP iterative matching algorithm is used. First, we determine the public areas of the two point sets based on transformation parameters obtained from the preparative matching step. Reduced the blindness of the search for corresponding points, increased the speed of matching algorithm. Second, we use the improved ICP matching algorithm which has improved the speed of matching and the robust of the iterative.Finally, we introduce the structure of mechanism and the control system of mobile robot, use the mobile robot that our laboratory developed to build the map in the indoor environment based on the map building algorithm based on the laser scan data. The results show that the proposed method can effectively accomplish the task of map building.