This paper aims at the navigation of mobile robot under duct environment. It is impossible for people to clean inside of the duct, since there is messy and unhygienic as long as those are constructed. However, we developed the robot that has fitted size of its body so that it can explore the narrow and messy environment without any complaint. Then, cleaning inside of duct could be feasible work. There are some technology needed such as designing robot, building a map and localization which is also called SLAM (Simultaneous Localization and Mapping). Furthermore, the road has a lot of curves and intersections. That is why building a 3D map is required. This paper proposes that build a 3D map so that a robot can explore the complicated duct without collision.
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