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Environment mapping with a mobile robot using sonar

  • A. Zelinsky
Vision And Robotics
Part of the Lecture Notes in Computer Science book series (LNCS, volume 406)

Abstract

This paper describes a method of producing high resolution maps of an indoor environment with an autonomous mobile robot equipped with sonar range finding sensors. This method is based upon investigating obstacles in the near vicinity of a mobile robot. The mobile robot examines the straight line segments extracted from the sonar range data describing obstacles near the robot. The mobile robot then moves parallel to the straight line sonar segments, in close proximity to the obstacles, continually applying the sonar barrier test. The sonar barrier test exploits the physical constraints of sonar data, and eliminates noisy data. This test determines whether or not a sonar line segment is a true obstacle edge or a false reflection. Low resolution sonar sensors can be used with the described method. The performance of the algorithm is demonstrated using a Denning Corp. Mobile Robot, equipped with a ring of Polaroid Corp. Ultrasonic Rangefinders.

Keywords

mobile robots ultrasonics environment learning 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • A. Zelinsky
    • 1
  1. 1.Department of Computing ScienceUniversity of WollongongWollongongAustralia

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