Abstract
The robot which can be active outdoors is demanded with development of robot technology. Therefore we developed "Beetle-One" of outdoor mobile robot in the environment that is a sidewalk and a town area.An environmental map is necessary for autonomous run evasion in a person and an obstacle and find self-position identification.as a generation system of an environmental map ,aline and align a filler the data which acquired during a run one by one. However, measurement points are different, and cause an error of alining data.In this paper, indicate a system of Beetle-One ,and using global map generation method by iterating overlap-part estimation discussed and evaluated by some experimental results.
