1A1-B19 Obstacle Avoidance Control by Laser Range Finder for Six-Legged Robot : SLAM by Laser Range Finder for Six-Legged Robot

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When the robot walking in an environment to a targeted destination by using odometer, or in our case, we used Center of Body (COB) data, it might be can't reach to the destination precisely due to the errors of the sensor itself or due to mechanical problem of the robot. To reach the targeted destination precisely, higher accuracy of estimation data are needed. Therefore, we used laser range finder (LRF) 3D information with the application of Extended Kalman Filter (EKF). However, the location of the robot has to know it's coordinate in the environment simultaneously during its journey. For that purpose we apply Simultaneous Localization and Mapping (SLAM) method in this research. Furthermore, we also apply the Occupancy Grid Mapping algorithm for obstacle avoidance control besides implementing the SLAM.

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