Occupancy grids building by sonar and mobile robot

Noykov, Svetoslav; Roumenin, Chavdar

doi:10.1016/j.robot.2006.06.004

Cited by 34 publications

(14 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Probabilistic and statistical (Borenstein & Koren, 1991;Cañas & García-Alegre, 1999;Elfes, 1987;Lee, Cho, Chung, & Lee, Y., 2006;Lee, Lee, Y., Kölsch, & Chung, 2013;Lim & Cho, 1992;Moravec & Elfes, 1985), fuzzy logic (Gasós & Martín, 1996;Noykov & Roumenin, 2007), neural networks Kang, An, Kim, & Oh, 2010;Thrun, 1998, and ultrasonic arc map (UAM) (Barshan B., 2007) are used to build a mesh map where each square has an occupancy mark. The probabilistic and statistical methodologies have been extended to three dimensions to build a spatial map for underwater navigation in (Auran & Silven, 1996;Fairfi eld, Kantor, & Wettergreen, 2007).…”

Section: Methods and Instrumentsmentioning

confidence: 99%

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Ortiz¹,

Castillo-Castañeda

Zavala

2017

Ing. Inv.

View full text Add to dashboard Cite

Detección y localización de superficies en un ambiente 3D a través de un solo sensor y casquetes esféricos ultrasónicosFabio T Moreno-Ortiz 1 , Eduardo Castillo-Castañeda 2 , and Antonio Hernández-Zavala 3 ABSTRACTIn this paper, an ultrasonic arc map method for flat mapping is extended to three-dimensional space replacing the circumference arcs by spherical caps. An enclosed environment is scanned by employing a single ultrasonic device. The range, position, and orientation of the transducer are used to digitize the uncertainty caps and place them in a three-dimensional map. Through the spatial voting method, the generated voxels are elected in order to distinguish those which mark the true position of an obstacle and discard those that are produced by cross talk, noise, fake ranges, and angular resolution. The results show that it is possible to obtain sufficient information to build a three-dimensional map for navigation by employing inexpensive sensors and a low power data processing.Keywords: Ultrasonic arc map, sonar resolution, SLAM, Bresenham algorithm, voxelized spherical cap, beam pattern, spatial voting. RESUMENEn este artículo, un método de mapa de arcos ultrasónicos para mapeo plano es extendido al espacio tridimensional, remplazando los arcos de circunferencia por casquetes esféricos. Un ambiente cerrado es explorado empleando solo un dispositivo ultrasónico. La distancia, posición y orientación del transductor son utilizadas para digitalizar casquetes de incertidumbre y colocarlos en un mapa tridimensional. A través del método de votación espacial, los voxeles generados son elegidos con el propósito de distinguir aquellos que marcan la posición real de un obstáculo y descartar aquellos producidos por diafonía, ruido, lecturas falsas y la resolución angular. Los resultados muestran que es posible obtener suficiente información para construir un mapa tridimensional para navegación mediante el empleo de sensores de bajo costo y un procesamiento de datos de baja potencia.Palabras clave: Mapa de arco ultrasónico, resolución del sonar, SLAM, algoritmo de Bresenham, casquete esférico voxelizado, patrón de dispersión, votación espacial.

show abstract

Section: Methods and Instrumentsmentioning

confidence: 99%

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Ortiz¹,

Castillo-Castañeda

Zavala

2017

Ing. Inv.

View full text Add to dashboard Cite

show abstract

“…, i j A A D Note that a factor 1/2 is needed in formula (11) where * , m m is the scalar product defined by …”

Section: Measurement Of Evidence Support (Mes)mentioning

confidence: 99%

A MES pre-processor design in multi-source information, fusion

Yang

Huang

Wang

2009

2009 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery

View full text Add to dashboard Cite

In multi-sources information fusion, because of the diversity of evidences, especially the imperfect evidences, it's difficult to get a satisfied result. To avoid and reduce the influence of the mistaken or conflicting information on the final precision of fusion, a pre-processor of evidence sources is proposed and proved. A MES (measurement of evidence support) pre-processor is designed. Firstly, the reliability of every evidence source is analyzed from itself generalized basic belief assignment (gbba) to identify the centre of the whole evidence sources. Then the distance measurement between every evidences and the centre evidence is confirmed according to the relation support. The identification algorithm of computing reliability is also presented. The evidence source with larger distance won't be sent into the fusion to achieve the faster and more precise information result. Finally we apply the new tool coupling with the fusion rule based on Dezert and Smarandache Theroy (DSmT) to P2DX robot perception. Experiment results show the effectiveness and robustness of this method.

show abstract

“…Do ponto de vista biológico, para se locomover de forma inteligente em um ambiente inicialmente desconhecido faz-se necessário o mapeamento do ambiente, o que possibilitará encontrar melhores trajetórias para o cumprimento de uma determinada tarefa. Dentre as formas de mapeamento existentes, um dos métodos mais amplamente utilizadosé o mapeamento métrico probabilístico, denominado Grade de Ocupação, proposto inicialmente por Elfes [1], e utilizado com sucesso em diversas pesquisas [2][3][4].…”

unclassified

Método Híbrido Deliberativo Para A Navegação De Robôs Móveis Autônomos

Benicasa¹,

Romero²

2016

Anais Do 10. Congresso Brasileiro De Inteligência Computacional

View full text Add to dashboard Cite

Occupancy grids building by sonar and mobile robot

Cited by 34 publications

References 7 publications

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

Detection and location of surfaces in a 3D environment through a single transducer and ultrasonic spherical caps

A MES pre-processor design in multi-source information, fusion

Método Híbrido Deliberativo Para A Navegação De Robôs Móveis Autônomos

Contact Info

Product

Resources

About