BASE PLANE HEIGHT COMPENSATION METHOD OF MOBILE ROBOT AND GENERATING METHOD FOR ELEVATION MAP USING THE SAME

摘要

The present invention provides a preset distance sensor that scans the eye with a forward tilted at an angle to the bottom relates to a correction method and a height reference surface height map created using the same method of the mobile robot. Plane height correction method according to the invention: (a) a step of measuring a plurality of height values are obtained for the front bottom surface of the mobile robot in accordance with the scanning operation of the distance sensor; (B) based on the reference height value is currently registered for the reference surface, the plurality of the measurement height of extracting a plurality of the effective height of the values; (C) the current value and the registered reference height, the group the effective height value by applying the algorithm for estimating and calculating a corrected height set value; (D) is characterized in that it comprises the step of updating the current correction value to the reference height registered high value. Thus, according to the running of the mobile robot based on the height value for the plane on which to base the height measured by using the information from one of a distance sensor scanning the front bottom surface of the mobile robot with inclined at a predetermined angle constantly give This is made possible by a more accurate perception of the environment by being corrected is updated. ;