Mapping Algorithm, Simulating Lidar and Sonars on Mobile Robots
Aleksei Plotnikov, Valentin E. Pryanichnikov · Annals of DAAAM for ... & proceedings of the ... International DAAAM Symposium · 2020
The paper proposes an algorithm for constructing a local map of the operational space of mobile service robots, based on logical analysis and comparison of readings from a small number of ultrasoni c rangefinders (sonars).The described algorithm was tested in a virtual environment that simulates the robot's movement and the operation of sonar.The best results for the local mapping algorithm were found when placing sensors of 4 pairs on the sides of the robot so that for each pair the axes of the beam pattern would be deployed at a certain angle towards each other.To confirm the functionality of the sensor layout at work, an experiment was conducted to control a virtual robot in a test environment.Testing has shown that operators successfully identify walls, doorways, and obstacles while controlling the virtual robot.Experiments to find out the real directional pattern of HY-SRF05 sonar were conducted.And given thoughts on combining readings from sonar and LIDAR sensors.