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A Complete Feature Map Building Method of Sonar Sensors for Mobile Robots  

Lee, Se-Jin (Department of Mechanical Engineering, POSTECH)
Lim, Jong-Hwan (Department of Mechatronics, Cheju Natl. Univ.)
Cho, Dong-Woo (Department of Mechanical Engineering, POSTECH)
Publication Information
Journal of the Korean Society for Precision Engineering / v.27, no.1, 2010 , pp. 64-75 More about this Journal
Abstract
This study introduces a complete feature map building method of sonar sensors for mobile robots. This method enhances the reality of feature maps by extracting even circle features as well as line and point features from sonar data. Edge features are, moreover, generated by combining line features close to circle features extracted around comer sites. The uncertainties of the specular reflection phenomenon and wide beam width of sonar data can be, therefore, reduced through this map building method. The experimental results demonstrate a practical validity of the proposed method in those environments.
Keywords
Sonar Sensor; Feature Extraction; Circle Feature; Complete Mapping; Mobile Robot;
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Times Cited By KSCI : 1  (Citation Analysis)
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