3-D MAP GENERATION BY A ROBOT TRACTOR EQUIPPED WITH A LASER RANGE FINDER

摘要

Our research group aims to develop a method of 3-D map generation by a robot tractor. To realize this mission, we use a laser range finder attached on a roof of the tractor cabin with inclination angle. This sensor provides a two-dimensional description of the environment, and from this information we can obtain a local map through coordinate transformation from polar coordinate system to Cartesian coordinate system. As the robot tractor moves, the different local maps are obtained, and we can generate a global map by integrating maps with GPS data. Then, this global map represents the environment surrounding the robot on three-dimension. For generate the map, we measured robot's location using RTK-GPS and FOG. Finally, we described surrounding environment by a digital elevation map.