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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages292-297
Number of pages6
ISBN (Print)9781479953325
DOIs
Publication statusPublished - 1997 Mar 9
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 2014 Nov 122014 Nov 15

Other

Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
CountryMalaysia
CityKuala Lumpur
Period14/11/1214/11/15

Keywords

  • Grid map
  • Localization
  • Mobile robot
  • Sonar sensor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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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