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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Published in | Journal of communications technology & electronics Vol. 61; no. 12; pp. 1474 - 1480 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Moscow
Pleiades Publishing
01.12.2016
Springer Springer Nature B.V |
Subjects | |
Online Access | Get full text |
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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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Bibliography: | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
ISSN: | 1064-2269 1555-6557 |
DOI: | 10.1134/S106422691612024X |