Abstract
We are trying to develop a simple autonomous map making method for indoor mobile robots, using the property of the usual buildings, of which the major walls are located parallel or perpendicular. The robot can find its own direction relative to the environment wall, based on its surroundings range data and make an accurate map easily. In this paper, the method to know the robot direction using a scan of range data, and the method to building the map by connecting the scanned range data with the robot direction information.
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