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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| Abstract | 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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| AbstractList | 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). 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). Keywords: sonar-based mapping, occupancy maps, forward sonar model, continuous optimization DOI: 10.1134/S106422691612024X |
| Audience | Academic |
| Author | Nikolaev, D. P. Shvets, E. A. Shepelev, D. A. |
| Author_xml | – sequence: 1 givenname: E. A. surname: Shvets fullname: Shvets, E. A. email: shvets@visillect.com organization: Kharkevich Institute for Information Transmission Problems, Russian Academy of Sciences – sequence: 2 givenname: D. A. surname: Shepelev fullname: Shepelev, D. A. organization: Kharkevich Institute for Information Transmission Problems, Russian Academy of Sciences – sequence: 3 givenname: D. P. surname: Nikolaev fullname: Nikolaev, D. P. organization: Kharkevich Institute for Information Transmission Problems, Russian Academy of Sciences |
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| Cites_doi | 10.1109/2.30720 10.1023/A:1008806422571 10.1177/027836499201100402 10.1023/A:1025584807625 10.1177/027836402320556340 |
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| Copyright | Pleiades Publishing, Inc. 2016 COPYRIGHT 2016 Springer Journal of Communications Technology and Electronics is a copyright of Springer, 2016. |
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| References | Thrun (CR7) 2003; 15 Shvets, Nikolaev (CR14) 2015 Tardós, Neira, Newman, Leonard (CR5) 2002; 21 Paskin, Thrun (CR6) 2012 Latombe (CR11) 1990 Elfes (CR3) 1989; 22 Konolige (CR9) 1997; 4 CR12 Elfes (CR8) 1989 Lategahn, Derendarz, Graf, Kitt, Jan (CR2) 2010 Moras, Cherfaoui, Bonnifait (CR1) 2011 Chukalina, Nikolaev, Sokolov, Ingacheva, Buzmakov, Prun (CR13) 2015 Leonard, Durrant-Whyte, Cox (CR10) 1992; 11 Moravec (CR4) 1988; 9 S. Thrun (401_CR7) 2003; 15 J. Moras (401_CR1) 2011 H. Moravec (401_CR4) 1988; 9 A. Elfes (401_CR3) 1989; 22 J. D. Tardós (401_CR5) 2002; 21 H. Lategahn (401_CR2) 2010 K. Konolige (401_CR9) 1997; 4 A. Elfes (401_CR8) 1989 J. Leonard (401_CR10) 1992; 11 M. Paskin (401_CR6) 2012 J.-C. Latombe (401_CR11) 1990 401_CR12 E. Shvets (401_CR14) 2015 M. Chukalina (401_CR13) 2015 |
| References_xml | – year: 2012 ident: CR6 publication-title: Robotic mapping with polygonal random fields contributor: fullname: Thrun – start-page: 84 year: 2011 end-page: 89 ident: CR1 article-title: Credibilist occupancy grids for vehicle perception in dynamic environments publication-title: Proc. IEEE Int. Conf. on Robotics and Automation contributor: fullname: Bonnifait – year: 1989 ident: CR8 publication-title: Occupancy Grids: A Probabilistic Framework for Robot Perception and Navigation, PhD Thesis contributor: fullname: Elfes – volume: 22 start-page: 46 issue: 6 year: 1989 end-page: 57 ident: CR3 article-title: Using occupancy grids for mobile robot perception and navigation publication-title: Computer doi: 10.1109/2.30720 contributor: fullname: Elfes – volume: 4 start-page: 351 year: 1997 end-page: 367 ident: CR9 article-title: Improved Occupancy Grids for Map Building publication-title: Autonom. Robots doi: 10.1023/A:1008806422571 contributor: fullname: Konolige – volume: 11 start-page: 286 year: 1992 end-page: 298 ident: CR10 article-title: Dynamic map building for an autonomous mobile robot publication-title: Int. J. Robotics Res. doi: 10.1177/027836499201100402 contributor: fullname: Cox – start-page: 819 year: 2010 end-page: 824 ident: CR2 article-title: Occupancy grid computation from dense stereo and sparse structure and motion points for automotive applications publication-title: Proc. IEEE Intelligent Vehicles Symposium contributor: fullname: Jan – ident: CR12 – volume: 15 start-page: 111 issue: 2 year: 2003 end-page: 127 ident: CR7 article-title: Learning occupancy grid maps with forward sensor models publication-title: Autonom. Robots doi: 10.1023/A:1025584807625 contributor: fullname: Thrun – volume: 21 start-page: 311 year: 2002 end-page: 330 ident: CR5 article-title: Robust mapping and localization in indoor environments using sonar data publication-title: Int. J. Robotics Res. doi: 10.1177/027836402320556340 contributor: fullname: Leonard – year: 2015 ident: CR13 article-title: CT metal artifact reduction by soft inequality constraints publication-title: Proc. SPIE, 8th Int. Conf. on Machine Vision contributor: fullname: Prun – year: 1990 ident: CR11 publication-title: Robot Motion Planning contributor: fullname: Latombe – volume: 9 start-page: 61 issue: 2 year: 1988 ident: CR4 article-title: Sensor fusion in certainty grids for mobile robots publication-title: AI Magazine contributor: fullname: Moravec – year: 2015 ident: CR14 article-title: Complex approach to long-term multi-agent mapping in low dynamic environments publication-title: Proc. 8th Int. Conf. on Machine Vision, Rowland Heights, 2015 contributor: fullname: Nikolaev – volume: 22 start-page: 46 issue: 6 year: 1989 ident: 401_CR3 publication-title: Computer doi: 10.1109/2.30720 contributor: fullname: A. Elfes – start-page: 84 volume-title: Proc. IEEE Int. Conf. on Robotics and Automation year: 2011 ident: 401_CR1 contributor: fullname: J. Moras – volume-title: Proc. 8th Int. Conf. on Machine Vision, Rowland Heights, 2015 year: 2015 ident: 401_CR14 contributor: fullname: E. Shvets – volume-title: Proc. SPIE, 8th Int. Conf. on Machine Vision year: 2015 ident: 401_CR13 contributor: fullname: M. Chukalina – volume-title: Robot Motion Planning year: 1990 ident: 401_CR11 contributor: fullname: J.-C. Latombe – volume-title: Occupancy Grids: A Probabilistic Framework for Robot Perception and Navigation, PhD Thesis year: 1989 ident: 401_CR8 contributor: fullname: A. Elfes – volume: 4 start-page: 351 year: 1997 ident: 401_CR9 publication-title: Autonom. Robots doi: 10.1023/A:1008806422571 contributor: fullname: K. Konolige – volume-title: Robotic mapping with polygonal random fields year: 2012 ident: 401_CR6 contributor: fullname: M. Paskin – start-page: 819 volume-title: Proc. IEEE Intelligent Vehicles Symposium year: 2010 ident: 401_CR2 contributor: fullname: H. Lategahn – volume: 11 start-page: 286 year: 1992 ident: 401_CR10 publication-title: Int. J. Robotics Res. doi: 10.1177/027836499201100402 contributor: fullname: J. Leonard – ident: 401_CR12 – volume: 15 start-page: 111 issue: 2 year: 2003 ident: 401_CR7 publication-title: Autonom. Robots doi: 10.1023/A:1025584807625 contributor: fullname: S. Thrun – volume: 9 start-page: 61 issue: 2 year: 1988 ident: 401_CR4 publication-title: AI Magazine contributor: fullname: H. Moravec – volume: 21 start-page: 311 year: 2002 ident: 401_CR5 publication-title: Int. J. Robotics Res. doi: 10.1177/027836402320556340 contributor: fullname: J. D. Tardós |
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| SubjectTerms | 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 |
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| Title | Occupancy grid mapping with the use of a forward sonar model by gradient descent |
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