Generation of space grid map by 3D detection of obstacle distribution

In walking guide robot, a guide vehicle detects an obstacle distribution in walking space using range sensors, and generates a space grid map to mapping the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans walking route and controls the guide vehicle. The algorithm of 3-D obstacle detection and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3-D detection of the obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors (SRF05, Devantech Co. Ltd.) and control system (PCI-6221 DAQ board & LabVIEW, National Instruments Co.). In the experiment, the detection of fixed obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping space is verified through the experiment.