Exploration of a mobile robot based on sonar probability mapping
SCIE
SCOPUS
- Title
- Exploration of a mobile robot based on sonar probability mapping
- Authors
- Min, BK; Cho, DW; Lee, SJ; Park, YP
- Date Issued
- 1996-03
- Publisher
- ASME-AMER SOC MECHANICAL ENG
- Abstract
- This paper suggests a new exploration strategy of an autonomous mobile robot in an unknown environment. Determination of a temporary goal based on a representation of work area named exploration quadtree is proposed. The exploration quadtree provides the information on quality of the regions concerned in a robot's workspace. Using this quadtree the robot easily finds the next temporary goal that makes exploration move efficient. The quadtree is made up from a sonar probability map that is constructed by sonar range sensing and Bayesian probability theory. We then propose a method that plans a path between the determined temporary goals based on a probability map. The developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory, and shown to be useful enough in a real environment that cart be projected onto a two-dimensional space.
- Keywords
- OBSTACLE AVOIDANCE
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21610
- DOI
- 10.1115/1.2801136
- ISSN
- 0022-0434
- Article Type
- Article
- Citation
- JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, vol. 118, no. 1, page. 150 - 157, 1996-03
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