Robust three-dimensional Mapping with Balancing system

In this paper, we propose a robust mapping technique for organically changing terrain by using a 3 - dimensional balancing scanning system combining a mobile robot, a 2 - dimensional LRF sensor and 4 actuators. Where the organic topography changes, the measurement scale of the LRF sensor continuousl...

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Bibliographic Details
Published in2018 International Conference on Information and Communication Technology Robotics (ICT-ROBOT) pp. 1 - 4
Main Authors Hwang, Dokyung, An, Jongwoo, Jang, Gyounghoon, Lee, Jangmyung
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2018
Subjects
Actuators
Information and communication technology
LRF
Mobile robots
Robot sensing systems
Surfaces
System performance
three-demensional balancing system
three-demensional Mapping
Wheels
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Summary:In this paper, we propose a robust mapping technique for organically changing terrain by using a 3 - dimensional balancing scanning system combining a mobile robot, a 2 - dimensional LRF sensor and 4 actuators. Where the organic topography changes, the measurement scale of the LRF sensor continuously changes and the accuracy of the map deteriorates. In order to solve this problem, a three-dimensional balancing system is constructed and the measurement scale of the LRF sensor is made uniform by using a balancing system. Finally, in order to verify the mapping of the three-dimensional balancing system, the experiment was verified in the actual experimental environment.
DOI:10.1109/ICT-ROBOT.2018.8549861