Abstract The mobile robot mapping in unknown indoor environment based on sonar sensors is discussed. Aiming at the inherent limitations such as poor azimuth resolution and specular reflection, an accurate local environment model is achieved by analyzing the relationship of adjacent sonar information, and an active exploration strategy for robot mapping is presented based on this model. Comparative experiments are conducted on a real mobile robot in indoor environment using the proposed mapping algorithm and another popular mapping algorithm. Experimental results show that the proposed algorithm can overcome the inherent limitation of sonar sensor and get a complete map of the indoor environment accurately and effectively.
ZHOU GuangMing,CHEN ZongHai,LIU NianQing等. Mapping Algorithm of Mobile Robot in Unknown Indoor Environment Based on Active Exploration[J]. , 2006, 19(5): 591-597.
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2006, Vol. 19 
