Illuminance measurement of a mobile robot based on computational intelligence

This paper proposes a method for illuminance measurement of a mobile robot using self-localization and map building. The map is represented by 2 dimensional discrete cell space. According to the measured distance by laser range finder, the map is updated sequentially. When the difference between the measured distance and the map data is large, a steady-state genetic algorithm corrects the self-location. Finally we show computer simulation and experimental results of the proposed method.