Pregled bibliografske jedinice broj: 120261
Improvements of Occupancy Grid Maps by Sonar Data Corrections
Improvements of Occupancy Grid Maps by Sonar Data Corrections // CD-ROM Proceedings of FIRA Robot World Congress 2003
Beč, Austrija, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 120261 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Improvements of Occupancy Grid Maps by Sonar Data Corrections
Autori
Ivanjko, Edouard ; Petrović, Ivan ; Maček, Kristijan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
CD-ROM Proceedings of FIRA Robot World Congress 2003
/ - , 2003
Skup
FIRA Robot World Congress 2003
Mjesto i datum
Beč, Austrija, 01.10.2003. - 03.10.2003
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Mobile Robot; Kalman Filter; Occupancy grid maps; Sonar correction
Sažetak
In this paper we address one of the major problems of mobile robots navigation, the creation of a map from local sensor data collected as the robot moves around an unknown environment. Map building is the problem of generating models of robot environments from sensor data and can be often referred as a concurrent mapping and localization problem. That is to build a consistent map, the mobile robot has to know its pose. We present here three approaches to create occupancy grid maps from sonar's data and suggest a simple solution to improve the mapping quality in cases of irregular disposition of the sonars. The proposed solution has been tested on the mobile robot Pioneer 2DX.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
