Abstract
The basic problem to generate terrain map using the range finder's 3D information for mobile robot is considered. The representation of terrain map is investigated in the first place and a method called torus memory representation is introduced. The method to generate terrain map is divided into visible and invisible regions and discussed separately. As to the visible region, a method based on the sequential calculation of mean and mean deviation is proposed. As to the invisible region an associative processing of the memorized information (abbreviated A-interpolation method) which has been proposed by the authors for interpolation of invisible terrain is improved to bestow higher versatility and real time computation capability. Two experiments are made. One experiment is to measure and reproduce visible area map of the model terrain by using the MARS range finder mounted on the quadruped walking vehicle TITAN III. The other is the computer simulation experiment to compare the conventional method with proposed modified A-interpolation. The validity of the proposed methods are verified by these experiments.