Building occupancy grid map with Pioneer mobile robot

Abstract

The main aim of this project is, with the information that gives us around the room by this robot, Pioneer 3DX, to build a digital map, marking every obstacle in it during the exploration by our robot. Building maps are necessary everybody because it's necessary for our life, robot functions like tasks of fetch-and-carry and other mobility aids, there will be two fundamental questions. "Where am I" and "How do I get to where I am going" both need a map to be answered. A professional might program the robot to recognize the environment, but it would be unrealistic that ordinary citizens would be able to the same. Therefore an automatic way of generating a map is desirable. The task has been resumed in program an application which you can send the robot without any help to check a room for example, or any environment and, with this map with all the data given by the robot, to build a map to watch how that room is without entering.