Fig. 1. The mobile robot

Fig. 2. Pose of a mobile robot in the two-dimensional coordinate system

Fig. 3. Images from laser sensor. (a) Original local image from laser sensor; (b) local image from laser sensor after normalization

Fig. 4. Images after threshold segmentation

Fig. 5. Local maps of different scenes. (a) End of the corridor; (b) straight corridor; (c) corridor corner

Fig. 6. Vertical projection and horizontal projection of local maps in different scenes. (a) End of the corridor; (b) straight corridor; (c) corridor corner

Fig. 7. The robot enters the T-shaped corner in different orientations

Fig. 8. Structure diagram of classifiers

Fig. 9. Straight scene. (a) Straight corridor; (b) straight T-shaped corner

Fig. 10. Interference line segment filtering

Fig. 11. Right turn corner

Fig. 12. End of the corrido

Fig. 13. The experimental environment

Fig. 14. Path planning for straight area

Fig. 15. Path planning for corner area

Fig. 16. Path planning for the end area

Fig. 17. Construction effect of global map. (a) Viewable navigation path; (b) environmental raster map