Occupancy grids building by sonar and mobile robot |
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| Affiliation: | 1. Centre for Research and Technology Hellas (CERTH), Greece;2. University of Surrey, UK;1. School of Mathematics and Information Science, Shandong Institute of Business and Technology, Yantai 264005, China;2. Department of Mathematics and Statistics, Curtin University, Perth 6102, Australia |
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| Abstract: | In this paper, a modified method for occupancy grid map building by a moving mobile robot and a scanning ultrasonic range-finder is proposed. The map building process consists of two phases: (1) gleaning of information from environment, and (2) sonar data processing. For sonar data processing the proposed modified method combines: (1) statistical approach for probability sonar model building; and (2) application of fuzzy logic theory for sonar data fusion. It is experimentally shown that, in some applications, the proposed modified method has advantages over other well-known methods. |
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