Sonar resolution-based environment mapping
Sonar resolution-based environment mapping
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基于声纳分辨率的环境测绘
DOI：
10.1109/robot.1998.680724
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
H. Deliç
中科院分区：
文献类型：
--
作者：
Ldyla Cahut;K. Valavanis;H. Deliç
超声波测距传感器用于获取移动机器人在半结构化或非结构化环境中无碰撞导航所需的信息。声纳环的一组距离读数相互关联，以获取机器人环境的二维地图。当机器人运动时收集新数据时，通过新颖的匹配和更新算法不断增强地图。该算法利用直接从声纳分辨率或精度获得的置信度度量。没有额外的建模假设，并且该方法是稳健的。这些算法在 Nomad 200 移动机器人和 Nomad 的 Cognos 软件开发包上进行了实验测试。
Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package.