The Research On Self-Localization And Map Building Of Mobile Robot In Unknown Environments

Self-localization navigation and map building is two crucial problems in the research of mobile robots. Accurate self-localization in unknown environments is the key of map building, and the precision of self-localization is mainly affected by errors. Using T-Robot as the research objective, robot's self-localization and map building are implemented in this paper based on the data source from liner light sensor and cartwheel, and work of error correct in self-localization navigation.T-Robot with a liner light sensor can navigate simply, but great errors exist in the self-localization process because the route data obtained aren't precise enough. According to the traits of T-Robot, three motion tracks are brought up, which are line motion, arc motion and certain point wheel motion, and relevant motion formula are put forward.A method combining relative localization and absolute localization is come up to evaluate the pose of robot. In relative localization, Dead Reckoning is applied to evaluate the robot pose, while in absolute localization, liner light sensor is used to detect the route information and...