MAP DRAWING OF UNKNOWN ENVIRONMENT USING AUTONOMOUS MOBILE ROBOT

This paper focuses on map drawing using autonomous mobile robot. A small robot E-puck with eight infrared proximity sensors and two wheels is programmed to detect obstacles and walls, and in this way to draw a map of unknown environment. Program in computer analyses this information and draws points which are calculated as obstacle points. Position of the robot at any time is calculated using wheel odometry. The values of the sensors are calculated to the distance measured in metric system. Every time robot tries to detect the obstacles and when it approaches too close to the obstacle, it changes the direction of the movement.