A Development of An Effective Grid Map Building System for Mobile Robot

摘要

This paper presents an effective simultaneous map building system by using developed PSD sensor. The developed system consists of simplified real time O.S by using common embedded Linux, navigation module, and developed PSD sensor module for 2D map building. For precise scanning of the indoor environment, a cost effective PSD (position sensitive detector) sensor module is also developed. A wall following decision engine like an expert system was proposed for map building navigation. Experimental results demonstrate validity of the proposed system.