Sonar-based real-world mapping and navigation

A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described. The system uses sonar range data to build a multileveled description of the robot's surroundings. Sonar readings are interpreted using probabilit...

Full description

Saved in:
Bibliographic Details
Published in:IEEE journal of robotics and automation 1987-06, Vol.3 (3), p.249-265
Main Author: Elfes, A.
Format: Article
Language:English
Subjects:
Application software
Applied sciences
Data mining
Exact sciences and technology
Material handling, hoisting. Storage. Packaging
Mobile robots
Path planning
Robot sensing systems
Robotics and automation
Robustness
Service robots
Sonar measurements
Sonar navigation
Transfert equipment, manipulators
industrial robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described. The system uses sonar range data to build a multileveled description of the robot's surroundings. Sonar readings are interpreted using probability profiles to determine empty and occupied areas. Range measurements from multiple points of view are integrated into a sensor-level sonar map, using a robust method that combines the sensor information in such a way as to cope with uncertainties and errors in the data. The resulting two-dimensional maps are used for path planning and navigation. From these sonar maps, multiple representations are developed for various kinds of problem-solving activities. Several dimensions of representation are defined: the abstraction axis, the geographical axis, and the resolution axis. The sonar mapping procedures have been implemented as part of an autonomous mobile robot navigation system called Dolphin. The major modules of this system are described and related to the various mapping representations used. Results from actual runs are presented, and further research is mentioned. The system is also situated within the wider context of developing an advanced software architecture for autonomous mobile robots.
ISSN:0882-4967
2374-8710
DOI:10.1109/JRA.1987.1087096