MAPPING IN CONSIDERATION OF TIME DELAY OF SENSOR DATA FOR AUTONOMOUS MOBILE ROBOTS

Abstract

In the Lidar SLAM method, Lidar and odometory are used to generate a map of the environment around the robot and to estimate self-position probabilistically. In SLAM, it is common to use multiple sensordatas for Lidar and odometory, but when generating a map using different sensor data, i.e., sensor fusion, errors occur due to the time difference between sending and receiving sensor data. In this research, we attempt to reduce this error by performing scan matching that takes into account the arrival time delay.]