Occupancy grids building by sonar and mobile robot

被引：18

作者：

Noykov, Sv. ^{[1
]}

Roumenin, Ch. ^{[1
]}

机构：

[1] Bulgarian Acad Sci, Inst Control & Syst Res, BU-1113 Sofia, Bulgaria

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 02期

关键词：

mobile robot; map building; bitmap; occupancy grids; range-finder;

D O I：

10.1016/j.robot.2006.06.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a modified method for occupancy grid map building by a moving mobile robot and a scanning ultrasonic range-finder is proposed. The map building process consists of two phases: (1) gleaning of information from environment, and (2) sonar data processing. For sonar data processing the proposed modified method combines: (1) statistical approach for probability sonar model building; and (2) application of fuzzy logic theory for sonar data fusion. It is experimentally shown that, in some applications, the proposed modified method has advantages over other well-known methods. (c) 2006 Elsevier B.V. All rights reserved.

引用

页码：162 / 175

页数：14

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