An intelligent map-building system for indoor mobile robot using low cost photo sensors

摘要

This paper described a map-building for the mobile robot based on photo sensor system. The navigation module and Hough transform used to find line segments in sensor data were explained. A fuzzy inference engine was proposed for Wall-following algorithm, and the algorithm was used to gather the geometric scanning data of unknown environment. For map-building, Hough-Transform algorithm was developed. As inputs of the inference engine, emulated photo distance sensor values were used. Some experiments were illustrated for validity of the proposed algorithm.