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An Enhancement of Ultrasonic Based Map-building Using Newton Interpolation  

Choi, Kyung-Sik (Department of Electrical Engineering, Yeungnam Univ.)
Choi, Jung-Won (Department of automatic Electric Engineering, Yeungnam College of Science and Technology)
Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.8, 2009 , pp. 62-71 More about this Journal
Abstract
In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.
Keywords
Map-building; Mobile Robot; Newton Interpolation; Ultrasonic Sensor;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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