JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Robust Map Building in Narrow Environments based on Combination of Sonar and IR Sensors
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Robust Map Building in Narrow Environments based on Combination of Sonar and IR Sensors
Han, Hye-Min; Song, Jae-Bok;
  PDF(new window)
 Abstract
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.
 Keywords
Sensor Fusion;Map building;Sonar Sensor;Infrared sensor;Mobile robot;
 Language
Korean
 Cited by
 References
1.
R. Siegwart and I. R. Nourbakhsh, "Autonomous mobile robots," MIT Press, Cambridge, 2004.

2.
J. J. Leonard, and H. F. Durrant‐Whyte, "Directed Sonar Sensing for Mobile Robot Navigation," Kluwer Academic Publisher, 1992.

3.
H. P. Moravec, and A. Elfes, "High Resolution Maps from Wide Angle Sonar," IEEE Int. Conf. on Robotics and Automation, pp. 116‐121, 1985.

4.
D. W. Cho, and H. P. Moravec, "A Bayesian Method for Certainty Grids," AAAI Spring Symposium on Robot Navigation, pp.55‐60, 1990.

5.
Y. Choi, "Autonomous Navigation of a Mobile Robot Using Low‐Cost Range Sensors," in Master Thesis, Korea Univ., 2009.

6.
M.A. Lanthier, D. Nussbaum and A. Sheng, "Improving vision‐based maps by using sonar and infrared data," Proc. of 10th Int. Conf. on Robotics and Applications, USA, 2004

7.
권태범, 송재복, "저가 적외선센서를 장착한 이동로봇에 적용 가능한 격자지도 작성 및 샘플기반 정보 교합", 로봇학회논문지, 4권 3호, pp.169‐176, 2009.

8.
S. Thrun, W. Burgard, and D. Fox, "Probabilistic Robotics," MIT Press, 2005.