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Conference Paper
Sonar Map Construction for a Mobile Robot Using a Tethered-Robot Guiding System
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- Authors
- Yu Cheol Lee, Sang Ik Nah, Hyo Sung Ahn, Won Pil Yu
- Issue Date
- 2006-10
- Citation
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2006, pp.429-433
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This study introduces a sonar grid based map construction method using Navi-guider that is one of the tethered connection systems on a mobile robot. Basic function of Navi-guider is to actively control the robot through the tension length and an orientation of the cable. Navi-guider, which is able to easily control the mobile robot, is applied to robot controller for building the map. And StarLITE, being comprised of infrared LED and CCD camera, used for providing the global robot position by an artificial landmark. In case of using Navi-guider, user can easily control the mobile robot, but the sonar sensors of the robot head occasionally return the false distance between the sensors and object. Therefore, this paper presents a filtering method, called Cell Conjunction Filter(CCF), for building a grid-based map for a mobile robot using Navi-guider. The CCF was applied to the Bayesian and orientation probability grid-map construction model, which are typical models used to build grid maps, to verify its effectiveness. Experimental results were also obtained using a mobile robot in a real world environment.