METHOD FOR BUILDING THE MAP OF A MOBILE ROBOT AND RECOGNIZING THE POSITION OF THE MOBILE ROBOT

摘要

Provided is a map building and position recognizing method using a mobile robot, wherein the method comprises: a providing step of providing the mobile robot including a detecting part, a storing part, a calculating part calculating plane features from point data, a controlling part connected to the calculating part and applying a calculation control signal, and a driving part moving depending on the driving control signal of the controlling part; a detecting step of allowing the detecting part to detect the point data for a peripheral area depending on the detection control signal of the controlling part; a plane feature extracting step of allowing the controlling part to extract the plane features using the point data detected by the detecting part and predetermined data in the storing part; and a data associating step of matching map data for a peripheral environment using a space relation derived from prior plane features and present plane features, wherein the map data for the peripheral area is obtained by the motion of the mobile robot, and the data associating step includes: a sampling step of selecting a pair of rotation matching plane features between the present plane features and the prior plane features; and a consensus step of estimating the space relation between the prior position of the mobile robot and the present position of the mobile robot using the pair of rotation matching plane features and identifying whether or not the pair of rotation matching plane features is included in a group of pairs of the plane features.