Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Grid Map Building based on Reliability Model of Sonar Data

초음파 데이터의 신뢰도 모델 기반 지도 작성

  • Received : 2011.07.26
  • Accepted : 2011.11.15
  • Published : 2011.12.01
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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.

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References

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Cited by

  1. Impulse Noise Removal of LRF for 3D Map Building Using a Hybrid Median Filter vol.18, pp.10, 2012, https://doi.org/10.5302/J.ICROS.2012.18.10.970