A Case Study in Building 2D Maps with Robots

Abstract

In this paper, the authors are doing experimental work on generating 2D maps using the Agilex Scout Mini to utilize Pepper as an autonomous robot for guiding individuals within their university. This necessity arises from the lack of environmental data required for Pepper’s navigation. Accurate and detailed maps are important for Pepper to orient itself effectively and provide reliable guidance. This process involves equipping Pepper to explore and document the university’s physical layout, enabling autonomous movement and precise assistance for people. Key considerations include determining potential issues when using the two robots, the Scout with LiDAR and Pepper with Sonar, for map generation. Selecting an appropriate algorithm for noise reduction in the mapping points is a key feature for ensuring high-quality maps.