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Robust Map Building in Narrow Environments based on Combination of Sonar and IR Sensors
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 Title & Authors
Robust Map Building in Narrow Environments based on Combination of Sonar and IR Sensors
Han, Hye-Min; Song, Jae-Bok;
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It is very important for a mobile robot to recognize and model its environments for navigation. However, the grid map constructed by sonar sensors cannot accurately represent the environment, especially the narrow environment, due to the angular uncertainty of sonar data. Therefore, we propose a map building scheme which combines sonar sensors and IR sensors. The maps built by sonar sensors and IR sensors are combined with different weights which are determined by the degree of translational and rotational motion of a robot. To increase the effectiveness of sensor fusion, we also propose optimal sensor arrangement through various experiments. The experimental results show that the proposed method can represent the environment such as narrow corridor and open door more accurately than conventional sonar sensor-based map building methods.
Sensor Fusion;Map building;Sonar Sensor;Infrared sensor;Mobile robot;
 Cited by
초음파 센서 모듈을 활용한 2D 실내 지도 작성 기법,안덕현;김남문;박지혜;김영억;

한국통신학회논문지, 2016. vol.41. 8, pp.986-994 crossref(new window)
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