Region-wide Coverage Of The Digital Environment For Autonomous Mobile Robot Positioning System

In this paper, a strategy of three-dimensional digital environment creation and identification is proposed for area-covering mobile robots working in the outdoor unstructured area. In the process of creating boundary digital map (include working area boundary and barriers boundary), the combined localization systems composed of optical coders and three axes compass are used to acquiring the current position information in real-time. The acquired position information is deposited in the way of linearity linked list in the map database. Due to the error of the combined localization system is a little bigger, the result of measuring can't meet the demand of the system, so the method based on the cooperated landmarks using LMS (Laser Measurement System) is applied to eliminate the accumulated error of the localization systems. The corrected result of the measuring can accord with the demand of the system better. Here, the cooperated landmarks are installed in the working environment artificially beforehand. The LMS also used to calculates the length, width and height of the space occupied volume as well as the actual volume of the barriers. LMS units scan the surface of the barriers two-dimensionally during the advancing of the robots. A three-dimensional image of the barriers is saved by the evaluation unit and the measurement data has been processed with the moving speed of the robots. At last, the digital terrain model is emulated base on the three-dimensional digital information. Through founding the virtual environment, emulation of the robot can be done.