ISSN:
1433-3015
Keywords:
Bayesian model
;
Mapping
;
Mobile Robot
;
Navigation
;
Path planning
;
Specular reflection
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract A complete Bayesian derivation for a sensor data updating formula for certainty grids is given, and its validity confirmed in a simulation. In the real world this formula alone is less valid because of the specular reflection effect, which seriously detracts from the map quality. A simple and practical approach, which greatly enhances the map quality in spite of some loss of range information, is proposed to compensate for this. A new path planning method based on the enhanced map is implemented on a mobile robot, and every aspect of the new algorithm is investigated through a series of experiments. The results show the validity and usefulness of the proposed approaches, i.e. updating formulae, specular reflection correction and path planning methods.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01179282
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