Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

被引：16
|
作者：
Gonzalez-Arjona, David [1 ]
Sanchez, Alberto [1 ]
Lopez-Colino, Fernando [1 ]
de Castro, Angel [1 ]
Garrido, Javier [1 ]
机构：
[1] Univ Autonoma Madrid, Human Comp Technol Lab, Francisco Tomas & Valiente 11, E-28049 Madrid, Spain
来源：
ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION | 2013年 / 2卷 / 04期
关键词：
FPGA; Occupancy Grid; mapping; low-cost; LOCALIZATION; STRATEGIES; NAVIGATION;
D O I：
10.3390/ijgi2040959
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.
引用
收藏
页码：959 / 977
页数：19
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