Mapping of surrounding environment for a wheeled inverted Pendulum type robot

-Improvement of occupancy grid map for 3D laser range finder-

Abstract

This research aims to develop a mapping for a wheeled inverted pendulum robot. Using a combination of 3D laser range finder data and odometry data an occupancy grid map is generated. It was determined that lag between the data sources causes distortion. In this paper, a method of improving the generated map based on estimating and compensating the lag is presented. In addition, a method of increasing map information based on a new grid classification is proposed and its effectiveness is verified.