Map building in an autonomous robot using infrared sensors

摘要

The perception of the environment in mobile robotos is a very important task that every mobile robot must accomplish for the autonomy of the vehicle. Different sensors have been used for map builing and many of these solutions use ultrasonic sensors or laser. In this paper, we present an IR sensor that uses the intensity of the signal to calculate distance to objects. It offers a longer range compared with other solutions based on the same technology and cost. The robot YAIR has been equipped with 16 of these sensors in a ring and tested in a real environment constructing useful grid maps.