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http://dx.doi.org/10.5302/J.ICROS.2011.17.12.1219

Grid Map Building based on Reliability Model of Sonar Data  

Han, Hye-Min (Korea University)
Park, Joong-Tae (Korea University)
Song, Jae-Bok (Korea University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.12, 2011 , pp. 1219-1226 More about this Journal
Abstract
This paper proposes a novel approach to building an occupancy grid map using sonar data. It is very important for a mobile robot to recognize and construct its surrounding environments for navigation. However, the grid map constructed by ultrasonic sensors cannot represent a realistic shape of given environments due to incorrect sonar measurements caused by specular reflection. To overcome this problem, we propose an advanced sonar sensor model which consists of distance and shape factors used to determine the reliability of sensor data. Through this sensor model, a robot can build a high-quality grid map. The proposed method was verified by various experiments and showed that the robot could build an accurate map with sonar data in various indoor environments.
Keywords
ultrasonic sensor; specular reflection; grid map building; data association;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 3
연도 인용수 순위
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