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 |
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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 | |
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 |
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Country/Territory | 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