The map-building and exploration strategies of a simple sonar-equipped mobile robot
The map-building and exploration strategies of a simple sonar-equipped mobile robot
A course in fuzzy systems and control
A course in fuzzy systems and control
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Improved Occupancy Grids for Map Building
Autonomous Robots
Multisensor Fusion: An Autonomous Mobile Robot
Journal of Intelligent and Robotic Systems
Fast Grid-Based Position TRacking for Mobile Robots
KI '97 Proceedings of the 21st Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
Classifying and recovering from sensing failures in autonomous mobile robots
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
A Comparative Study of Three Mapping Methodologies
Journal of Intelligent and Robotic Systems
An Occupancy Grids Building Method with Sonar Sensors Based on Improved Neural Network Model
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
Approximate robotic mapping from sonar data by modeling perceptions with antonyms
Information Sciences: an International Journal
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In this paper, a novel approach for fine-tuning of the grid-based map-building algorithm is reported. The traditional occupancy grid-based map-building algorithm uses a fixed probability distribution function of the sonar readings and disregards the information from the environment. In our approach, the probability distribution function is tuned by fuzzy rules formed from the information obtained from the environment at each sonar data scan. A Bayesian update rule is then used to update the occupancy probabilities of the grid cells. The proposed map-building algorithm is compared with other grid-based map-building methods through simulations and experiments. The simulation and experimental studies suggest that ‘sharp’ grid maps can be obtained by incorporating fuzzy rules during the grid-based map generation. In comparison with other algorithms, improved convergence has also been noted.