Design of mapping system for Unmanned Ground Vehicle

This paper describes the 3D map generation for UGV(Unmanned Ground Vehicle) using 2D laser scanner. We have developed the 3D mapping system by integrating 2D laser scanner and motor driven revolution device. This platform has advantageous that one 3D laser scanner can displace multiple 2D laser scanners; 2D laser scanner could obtain limited data from terrain. The approach presented in this paper describes the mapping of driving environments and obstacle detecting of UGV by using a 3D mapping system.