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Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods

Edouard Ivanjko
Ivan Petrović
Mišel Brezak

Sažetak

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.

Ključne riječi

occupancy grid mapping; mobile robot; Bayesian map; Demspter-Shafer map; Fuzzy map; Borenstein map; MURIEL map; TBF map; sonar

Hrčak ID:

37891

URI

https://hrcak.srce.hr/37891

Datum izdavanja:

27.4.2009.

Podaci na drugim jezicima: hrvatski

Posjeta: 2.923 *