Grid map building based on reliability model of sonar data

Han, H.-M.; Park, J.-T.; Song, J.-B.

doi:10.5302/J.ICROS.2011.17.12.1219

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Grid map building based on reliability model of sonar data

Han, H.-M.;
Park, J.-T.;
Song, J.-B.

Citations

SCOPUS

5

초록

This paper proposes a novel approach to building an occupancy grid map using sonar data. It is very important for a mobile robot to recognize and construct its surrounding environments for navigation. However, the grid map constructed by ultrasonic sensors cannot represent a realistic shape of given environments due to incorrect sonar measurements caused by specular reflection. To overcome this problem, we propose an advanced sonar sensor model which consists of distance and shape factors used to determine the reliability of sensor data. Through this sensor model, a robot can build a high-quality grid map. The proposed method was verified by various experiments and showed that the robot could build an accurate map with sonar data in various indoor environments. © ICROS 2011.

키워드

Data association; Grid map building; Specular reflection; Ultrasonic sensor; Data association; Grid map; High quality; Indoor environment; Occupancy grid map; Reliability model; Sensor data; Sensor model; Shape factor; Sonar data; Sonar measurements; Sonar sensor; Specular reflections; Surrounding environment; Communication channels (information theory); Mobile robots; Sensors; Sensory perception; Ultrasonic sensors; Sonar

제목: Grid map building based on reliability model of sonar data

저자: Han, H.-M.; Park, J.-T.; Song, J.-B.

DOI: 10.5302/J.ICROS.2011.17.12.1219

발행일: 2011

유형: Article

저널명: 제어.로봇.시스템학회 논문지

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