Occupancy grid mapping with the use of a forward sonar model by gradient descent

Mapping of the environment is one of the key functions of autonomous robots. An efficient mapping algorithm is needed for successful localization and path finding. Maps may be plotted on the basis of the data from various sensors. Cheap and easy-to-install sonars are typically used for this purpose....

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Bibliographic Details
Published inJournal of communications technology & electronics Vol. 61; no. 12; pp. 1474 - 1480
Main Authors Shvets, E. A., Shepelev, D. A., Nikolaev, D. P.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 01.12.2016
Springer
Springer Nature B.V
Subjects
Algorithms
Analysis
Communications Engineering
Electronics
Engineering
Estimates
Localization
Mapping
Methods
Methods of Occupancy Grid Mapping
Networks
Occupancy
Optimization
Probability distribution
Reading
Real time
Robots
Sensors
Sonar
Studies
continuous optimization
occupancy maps
forward sonar model
sonar-based mapping
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Summary:Mapping of the environment is one of the key functions of autonomous robots. An efficient mapping algorithm is needed for successful localization and path finding. Maps may be plotted on the basis of the data from various sensors. Cheap and easy-to-install sonars are typically used for this purpose. A sonar-based mapping algorithm based on continuous optimization methods is proposed. This algorithm may be used in real time, and its main advantages over the common methods are more accurate determination of the size of small (smaller than the sonar beam width or comparable to it) obstacles and more reliable detection of narrow passages (e.g., doorways).
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ISSN:1064-2269
1555-6557
DOI:10.1134/S106422691612024X