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Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods

Edouard Ivanjko
Ivan Petrović
Mišel Brezak

Puni tekst: engleski, pdf (545 KB) str. 65-79 preuzimanja: 1.061* citiraj
APA 6th Edition
Ivanjko, E., Petrović, I. i Brezak, M. (2009). Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods. Automatika, 50 (1-2), 65-79. Preuzeto s https://hrcak.srce.hr/37891
MLA 8th Edition
Ivanjko, Edouard, et al. "Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods." Automatika, vol. 50, br. 1-2, 2009, str. 65-79. https://hrcak.srce.hr/37891. Citirano 22.10.2021.
Chicago 17th Edition
Ivanjko, Edouard, Ivan Petrović i Mišel Brezak. "Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods." Automatika 50, br. 1-2 (2009): 65-79. https://hrcak.srce.hr/37891
Harvard
Ivanjko, E., Petrović, I., i Brezak, M. (2009). 'Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods', Automatika, 50(1-2), str. 65-79. Preuzeto s: https://hrcak.srce.hr/37891 (Datum pristupa: 22.10.2021.)
Vancouver
Ivanjko E, Petrović I, Brezak M. Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods. Automatika [Internet]. 2009 [pristupljeno 22.10.2021.];50(1-2):65-79. Dostupno na: https://hrcak.srce.hr/37891
IEEE
E. Ivanjko, I. Petrović i M. Brezak, "Experimental Comparison of Sonar Based Occupancy Grid Mapping Methods", Automatika, vol.50, br. 1-2, str. 65-79, 2009. [Online]. Dostupno na: https://hrcak.srce.hr/37891. [Citirano: 22.10.2021.]

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

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Posjeta: 1.607 *