Simplified occupancy grid indoor mapping optimized for Low-Cost robots

© 2013 by MDPI (http://www.mdpi.org). Reproduction is permitted for noncommercial purposes.This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.This work has been supported by the Spanish Ministerio de Ciencia e Innovación under project TEC2009-09871