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Improvements of Occupancy Grid Maps by Sonar Data Corrections (CROSBI ID 491049)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Ivanjko, Edouard ; Petrović, Ivan ; Maček, Kristijan Improvements of Occupancy Grid Maps by Sonar Data Corrections // CD-ROM Proceedings of FIRA Robot World Congress 2003. 2003

Podaci o odgovornosti

Ivanjko, Edouard ; Petrović, Ivan ; Maček, Kristijan

engleski

Improvements of Occupancy Grid Maps by Sonar Data Corrections

In this paper we address one of the major problems of mobile robots navigation, the creation of a map from local sensor data collected as the robot moves around an unknown environment. Map building is the problem of generating models of robot environments from sensor data and can be often referred as a concurrent mapping and localization problem. That is to build a consistent map, the mobile robot has to know its pose. We present here three approaches to create occupancy grid maps from sonar's data and suggest a simple solution to improve the mapping quality in cases of irregular disposition of the sonars. The proposed solution has been tested on the mobile robot Pioneer 2DX.

Mobile Robot; Kalman Filter; Occupancy grid maps; Sonar correction

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Podaci o prilogu

2003.

objavljeno

Podaci o matičnoj publikaciji

CD-ROM Proceedings of FIRA Robot World Congress 2003

Podaci o skupu

FIRA Robot World Congress 2003

predavanje

01.10.2003-03.10.2003

Beč, Austrija

Povezanost rada

Elektrotehnika