Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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An Enhancement of Ultrasonic Based Map-building Using Newton Interpolation

뉴턴 보간법을 이용한 초음파센서 기반의 맵빌딩 개선

  • Choi, Kyung-Sik (Department of Electrical Engineering, Yeungnam Univ.) ;
  • Choi, Jung-Won (Department of automatic Electric Engineering, Yeungnam College of Science and Technology) ;
  • Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam Univ.)
  • Published : 2009.08.01
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Abstract

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.

Keywords

References

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