A Simultaneous map building system by using developed photo PSD sensors

This paper presents the work of developed sensor system for indoor map building. One of the objectives of this work is to develop a low-cost product. Most robots are equipped with obstacle detectors that operate using ultrasound. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection and multi path effect. In order to resolve these problems, we developed a range finder sensor module which consists of low cost photo PSD (position sensitive detector) sensors. PSD sensor is cost effective and light weighting but its signal has many noises. We propose an effective filter to remove these noises. The map building system consists of navigation module and map building module based on developed PSD sensor module. In this paper, we represent a cost effective map building system using developed PSD sensor controller. We proved this system's validity through field test