Robust three-dimensional Mapping with Balancing system

In this paper, we propose a robust mapping technique for organically changing terrain by using a 3 - dimensional balancing scanning system combining a mobile robot, a 2 - dimensional LRF sensor and 4 actuators. Where the organic topography changes, the measurement scale of the LRF sensor continuously changes and the accuracy of the map deteriorates. In order to solve this problem, a three-dimensional balancing system is constructed and the measurement scale of the LRF sensor is made uniform by using a balancing system. Finally, in order to verify the mapping of the three-dimensional balancing system, the experiment was verified in the actual experimental environment.