Autonomous mapping system for an interior finishing robot

The purpose of an autonomous-control system for interior finishing robots is to map an unknown building interior, plan the performance of a desired task, and monitor its execution by the robot. Two types of mapping systems are examined: one is based on a laser range finder, the other on a combination of an ultrasonic sensor for mapping of walls with an infrared sensor for mapping of openings. Mapping procedures with both systems of single rooms of different configurations, and of a whole building floor are explained. The characteristics of the sensors involved in both systems were tested in a real building interior environment. The results of these physical experiments were fed into computer programs developed to simulate the entire mapping procedure. The accuracy of the mapping and its economic feasibility are also examined.