대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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Probabilistic Map Building Using Ultrasonic Sensor for Autonomous Mobile Robot

  • 이상수 (연세대학교 전기 및 컴퓨터공학과) ;
  • 오준섭 (연세대학교 전기 및 컴퓨터공학과) ;
  • 최윤호 (경기대학교 전자공학과) ;
  • 박진배 (연세대학교 전기 및 컴퓨터공학과)
  • Lee, Sang-Soo (Dept. of Electrical & Computer Enginering, Yonsei Univ.) ;
  • Oh, Joon-Seop (Dept. of Electrical & Computer Enginering, Yonsei Univ.) ;
  • Choi, Yoon-Ho (Dept. of Electronic Engineering, Kyonggi Univ.) ;
  • Park, Jin-Bae (Dept. of Electrical & Computer Enginering, Yonsei Univ.)
  • 발행 : 2000.07.17
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초록

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

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