Occupancy grids building by sonar and mobile robot

Authors:
Sv. Noykov;Ch. Roumenin
Affiliations:
Institute of Control and System Research, Bulgarian Academy of Science, Block 2, Acad. G. Bontchev St., POB 79, Sofia 1113, Bulgaria;Institute of Control and System Research, Bulgarian Academy of Science, Block 2, Acad. G. Bontchev St., POB 79, Sofia 1113, Bulgaria
Venue:
Robotics and Autonomous Systems
Year:
2007

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Abstract

In this paper, a modified method for occupancy grid map building by a moving mobile robot and a scanning ultrasonic range-finder is proposed. The map building process consists of two phases: (1) gleaning of information from environment, and (2) sonar data processing. For sonar data processing the proposed modified method combines: (1) statistical approach for probability sonar model building; and (2) application of fuzzy logic theory for sonar data fusion. It is experimentally shown that, in some applications, the proposed modified method has advantages over other well-known methods.