Map building with autonomous mobile robot in the structured indoor environment
自主移动机器人的室内结构化环境地图创建

Localization and mapping are two important topics in the autonomous mobile-robot research.Within the framework of the extended Kalman filter algorithm,an efficient approach based on the direct motion control model is proposed,which can simultaneously localize the robot and build the map in the structured indoor environment.Simulation and experiment results indicate that odometer information can not solve the problems;but this approach can precisely localize the robot and build the consistent map.