2A2-M10 Proposal of self-position estimation system of autonomous mobile robot, including the floor level estimation by the pressure sensor : Study of combination with environmental map building method of 3D laser range sensor and 2D laser range sensor

Abstract

This study is developing a robot that can make map data by using laser range finder and can estimate self-position by comparison between map data and wall getting by laser range scanner. This robot has a pressure sensor used to estimate floor level. we use ROS as a middleware during integration of these systems. In this time, we describe a method to build the environment map that is a combination of 3D laser range sensor and 2D laser range sensor.