2A1-K11 Mapping of surrounding environment for a wheeled inverted Pendulum type robot : Fundamental study of occupancy grid mapping using 3D laser range finder(Localization and Mapping(1))

Abstract

This research aims to develop the mapping of a wheeled inverted pendulum type robot. In this paper, initial work on the generation of a 3D map of an indoor environment using a 3D laser range finder and occupancy grid mapping is presented. From the generated map the structure of the indoor environment was represented. It is suggested that the 3D laser range finder can be used to generate a precise 3D map of an indoor environment.