상세정보
학술지
Sonar Map Construction for Autonomous Mobile Robots Using a Data Association Filter
- 저자
- 이유철, 임종환, 조동우, 정완균
- 발행일
- 200901
- 출처
- Advanced Robotics, v.23 no.1-2, pp.185-201
- ISSN
- 0169-1864
- 출판사
- Taylor and Francis
- 협약과제
- 07MI1300, USN 기반 Ubiquitous Robotic Space 기술 개발, 유원필
- 초록
- This paper presents a method for building a probability grid map for autonomous mobile robots with ultrasonic sensors using a data association filter (DAF). The method is based on evaluating the possibility that the acquired sonar data are all reflected by the same object. The DAF is able to associate data points with each other. Data affected by specular reflection are not likely to be associated with the same object, so they are excluded from the data cluster by the DAF, thereby improving the reliability of the data used for the probability grid map. Since the corrupted data are not used to update the probability map, it is possible to build a good quality grid map even in a specular environment. The DAF was applied to the Bayesian and the Orientation probability models, 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. © 2009 VSP.
- KSP 제안 키워드
- Autonomous mobile robots, Data association, Data cluster, Grid Map, Map Construction, Probability Model, Real-world, Specular Environment, probability map, specular reflection, ultrasonic sensor