A study on the environmental map building for a mobile robot using infrared range-finder sensors | IEEE Conference Publication | IEEE Xplore

A study on the environmental map building for a mobile robot using infrared range-finder sensors


Abstract:

This paper presents a methodology for building the high accuracy environmental map using a mobile robot. The design approach uses low cost infrared range-finder sensors i...Show More

Abstract:

This paper presents a methodology for building the high accuracy environmental map using a mobile robot. The design approach uses low cost infrared range-finder sensors incorporating with neural networks. To enhance the map quality, the errors occurring from the sensors are corrected. The nonlinearity error of the sensors is compensated using a backpropagation neural network and the random error of readings including the uncertainty of environment is taken into a sensor model at probabilistic approach. The map is represented by occupancy grid framework and updated by the Bayesian estimation mechanism. The effectiveness of the proposed method is verified through a series of experiments.
Date of Conference: 27-31 October 2003
Date Added to IEEE Xplore: 08 December 2003
Print ISBN:0-7803-7860-1
Conference Location: Las Vegas, NV, USA

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