Ultrasonic Hybrid Map for Navigation of Mobile Robot
L. Jurišica, F. Duchoň
Slovak University of Technology in Bratislava
Abstract
Paper deals with principles of ultrasonic hybrid map proposed for indoor mobile robot system. This map is applied in navigation of mobile robot. At the beginning, paper presents brief description of indoor mobile robot system used for testing and developing of algorithms. Major section of paper deals with map creating. In the first step, it is local metric map with probabilistic model of ultrasonic sensor. In the second step, it is global metric map, which is created by connection of local metric maps. In the last step, it is simplification of environment representation from global metric map to topological map. In this manner ultrasonic hybrid map is created and it can be used in both reactive and global navigation of mobile robot.
Full paper
Session
UAVs Development and Control (Invited) (Lecture)
Reference
Jurišica, L.; Duchoň, F.: Ultrasonic Hybrid Map for Navigation of Mobile Robot. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 18th International Conference on Process Control, Tatranská Lomnica, Slovakia, June 14 – 17, 168–173, 2011.
BibTeX
| @inProceedings{pc2011-005, | ||
| author | = { | Juri\v{s}ica, L. and Ducho\n{n}, F.}, |
| title | = { | Ultrasonic Hybrid Map for Navigation of Mobile Robot}, |
| booktitle | = { | Proceedings of the 18th International Conference on Process Control}, |
| year | = { | 2011}, |
| pages | = { | 168-173}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Tatransk\'a Lomnica, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc11/data/papers/005.pdf}} |