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Sonar Map Construction for Autonomous Mobile Robots Using Data Association Filter  

Lee Yu-Chul (포항공대 기계공학과)
Lim Jong-Hwan (제주대 공대 기계공학과)
Cho Dong-Woo (포항공대 기계공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.9, 2005 , pp. 539-546 More about this Journal
Abstract
This paper describes a method of building the probability grid map for an autonomous mobile robot using the ultrasonic DAF(data association filter). The DAF, which evaluates the association of each data with the rest and removes the data affected by the specular reflection effect, can improve the reliability of the data for the Probability grid map. This method is based on the evaluation of possibility that the acquired data are all from the same object. Namely, the data from specular reflection have very few possibilities of detecting the same object, so that they are excluded from the data cluster during the process of the DAF. Therefore, the uncertain data corrupted by the specular reflection and/or multi-path effect, are not used to update the probability map, and hence building a good quality of a grid map is possible even in a specular environment. In order to verify the effectiveness of the DAF, it was applied to the Bayesian model and the orientation probability model which are the typical ones of a grid map. We demonstrate the experimental results using a real mobile robot in the real world.
Keywords
Mapping; Data Association; Bayesian Mode; Sonar; Mobile Robot;
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  • Reference
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