[Journal papers] [Conference papers] [PhD Theses] [MSc Theses]

 

Journal paper
Experimental comparison of sonar based occupancy grid mapping methods
AUTOMATIKA: Journal for Control, Measurement, Electronics, Computing and Communications (0005-1144) , Vol.1-2, pp.65-79, 2009
ABSTRACT:
For successful usage of mobile robots in human working areas several navigation problems have to be solved. One of the navigational problems is the creation and update of the model or map of a mobile robot working environment. This article describes most used types of the occupancy grid maps based sonar range readings. These maps are: (i) Bayesian map, (ii) Dempster-Shafer map, (iii) Fuzzy map, (iv) Borenstein map, (v) MURIEL map, and (vi) TBF map. Besides the maps description, a memory consumption and computation time comparison is done. Simulation validation is done using the AMORsim mobile robot simulator for Matlab and experimental validation is done using a Pioneer 3DX mobile robot. Obtained results are presented and compared regarding resulting map quality.
BibTeX entry:
@article \{Ivanjko2009_481,
author = \{Ivanjko, E. AND Petrovi\'{c}, I. AND Brezak, M.},
title = \{Experimental comparison of sonar based occupancy grid mapping methods},
journal = {AUTOMATIKA: Journal for Control, Measurement, Electronics, Computing and Communications (0005-1144) },
volume = \{1-2},
pages = \{65-79},
year = \{2009}
}

 

 

 

 

 

Home
About Us
People
Visitors
Groups
Projects
Publications
Software
Courses
Laboratory
Seminars
Students
Matlab
Alumni
Links