Abstract
Positioning and map construction are two fundamental missions for the indoor navigation with no a preferred map of an autonomous mobile robot. A mobile robot system used for synchronous positioning and mapping (SLAM) is designed for an indoor spontaneous mobile robot. Because variant sensor modeling for laser scope finder is adopted for the extraction of some two-dimensional context characteristics and vertical margins. Applying Kalman filtering (KF) to positioning and grid map construction synchronously are showed. In addition, this research considers navigation algorithm based on A* algorithm, which is often used in game programming. Flexible A* algorithm has been implemented and tested widely in numerous simulations operates. The outcomes demonstrate that the considered method effectively distributes the robot over the environment and allows them to accomplish its mission quickly.
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