Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections (CROSBI ID 507210)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ivanjko, Edouard ; Petrović, Ivan
engleski
Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections
In order to perform useful tasks the mobile robot's current pose must be accurately known. Problem of finding and tracking the mobile robot's pose is called localization, and can be global or local. In this paper we address local localization or mobile robot pose tracking with prerequisites of known starting pose, robot kinematic and world model. Pose tracking is mostly based on odometry, which has the problem of accumulating errors in an unbounded fashion. To overcome this problem sensor fusion is commonly used. This paper describes two methods for calibrated odometry and sonar sensor fusion based on Kalman filter theory and occupancy grid maps as used world model. Namely, we compare the pose tracking or pose estimation performances of both most commonly used nonlinear-model based estimators: extended and unscented Kalman filter. Since occupancy grid maps are used, only sonar range measurement uncertainty has to be considered, unlike feature based maps where an additional uncertainty regarding the feature/range reading assignment must be considered. Thus the numerical complexity is reduced. Experimental results on the Pioneer 2DX mobile robot show similar and improved accuracy for both pose estimation techniques compared to simple odometry.
Bajesovo pravila ; Dempster-Shafer pravilo ; mrežaste karte zauzeća prostora
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Podaci o prilogu
95-100.
2005.
objavljeno
10.1109/.2005.1466998
Podaci o matičnoj publikaciji
Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation
Limassol:
0-7803-8936-0
2158-9860
2158-9879
Podaci o skupu
IEEE International Symposium on Intelligent Control ISIC'05 and Mediterranean Conference on Control and Automation MED'05
predavanje
27.06.2005-29.06.2005
Limassol, Cipar