Robotics Research Journal (RRJ)

Research Article

Proposal of lateral inhibition real time map updating method for simultaneous localization and mapping by using LIDAR

Hideki Toda

Department of Electric and Electronic Engineering, University of Toyama, Japan, Gofuku 3190

Submitted: June 11, 2020; Accepted: November 28, 2020

Abstract

In this paper, a novel real-time map updating algorithm using a concept of lateral inhibition was proposed, and it was evaluated by simple 2D room mapping experiment. In a map creation and updating process, the position of the external environment "wall" such as woods, leaves and grasses would vibrate and be measured unstably. And it would lead an instability of the map creation. Our proposed method is to apply the lateral inhibition process to the real-time map updating process; it can inhibit the probability distribution creeping of the wall position in long-time map updating process. The experimental result of map updating process of 6.0×3.5 m 2D room with many obstacles shows the x-y positional and the rotational estimation precision was measured as ∆x, y = 1.8×10^-6 m (less than the laser range finder measurement error about 0.04 m) and the ∆θ= -0.03 deg (1-hour measurement). After the 38 min outdoor experiment, the occupancy map was stably maintained, and there is also slight rotation and position estimation errors (∆x, y= 0.0 m, ∆θ= 0.083±0.22 deg, N=5). The proposed method could suppress the wall existence probability distribution creeping induced by the natural environment vibration such as tree or leaves..

Keywords

Real-time map update; forest situation; lateral inhibition; occupancy grid map; LIDAR (Laser Range Finder).

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