Development of advanced grid map building model based on sonar geometric reliability for indoor mobile robot localization

Se Jin Lee; Kyoungmin Lee; Jae-Bok Song

doi:10.1109/URAI.2014.7057437

Development of advanced grid map building model based on sonar geometric reliability for indoor mobile robot localization

Se Jin Lee, Kyoungmin Lee, Jae-Bok Song

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

A novel approach to building a grid map using sonar data for a mobile robot is proposed in this study. It is very important for a mobile robot to find its surrounding saliencies and to localize itself for indoor navigation. Ultrasonic sensors are of great practical value in building environmental maps and for autonomous operation. However, grid maps constructed by ultrasonic sensors cannot typically form a realistic representation of a given environment due to incorrect sonar measurements caused by specular reflection and wide beam width. In this study, an advanced sonar sensor model, in which the negative effect of incorrect sonar measurements is minimized by geometric association with sonar data, is introduced to build a high-quality grid map. Experimental results and evaluations in the home environment demonstrate the validity of the proposed methods.

Original language	English
Title of host publication	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	292-297
Number of pages	6
ISBN (Print)	9781479953325
DOIs	https://doi.org/10.1109/URAI.2014.7057437
Publication status	Published - 1997 Mar 9
Event	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia Duration: 2014 Nov 12 → 2014 Nov 15

Other

Other	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Country	Malaysia
City	Kuala Lumpur
Period	14/11/12 → 14/11/15

Keywords

Grid map
Localization
Mobile robot
Sonar sensor

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/URAI.2014.7057437

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Lee, S. J., Lee, K., & Song, J-B. (1997). Development of advanced grid map building model based on sonar geometric reliability for indoor mobile robot localization. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 292-297). [7057437] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057437

Development of advanced grid map building model based on sonar geometric reliability for indoor mobile robot localization. / Lee, Se Jin; Lee, Kyoungmin; Song, Jae-Bok.

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014. Institute of Electrical and Electronics Engineers Inc., 1997. p. 292-297 7057437.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, SJ, Lee, K & Song, J-B 1997, Development of advanced grid map building model based on sonar geometric reliability for indoor mobile robot localization. in 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014., 7057437, Institute of Electrical and Electronics Engineers Inc., pp. 292-297, 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, Kuala Lumpur, Malaysia, 14/11/12. https://doi.org/10.1109/URAI.2014.7057437

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