Experimental comparison of sonar based occupancy grid mapping methods (CROSBI ID 149616)
Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ivanjko, Edouard ; Petrović, Ivan ; Brezak, Mišel
engleski
Experimental comparison of sonar based occupancy grid mapping methods
For successful usage of mobile robots in human working areas several navigation problems have to be solved. One of the navigational problems is the creation and update of the model or map of a mobile robot working environment. This article describes most used types of the occupancy grid maps based sonar range readings. These maps are: (i) Bayesian map, (ii) Dempster-Shafer map, (iii) Fuzzy map, (iv) Borenstein map, (v) MURIEL map, and (vi) TBF map. Besides the maps description, a memory consumption and computation time comparison is done. Simulation validation is done using the AMORsim mobile robot simulator for Matlab and experimental validation is done using a Pioneer 3DX mobile robot. Obtained results are presented and compared regarding resulting map quality.
occupancy grid mapping ; mobile robot ; Bayesian map ; Demspter-Shafer map ; Fuzzy map ; Borenstein map ; MURIEL map ; TBF map ; sonar
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Podaci o izdanju
50 (1-2)
2009.
65-79
objavljeno
0005-1144
Povezanost rada
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti