一种基于声纳信息的移动机器人地图创建方法

A sonar-based map building approach for mobile robot

未知环境中移动机器人地图创建是自主移动机器人一项重要的基本功能。本文提出了一种新的基于声纳传感器信息进行栅格地图创建方法。将Bayes法则应用于栅格概率估计和声纳信息处理过程中,有效的克服了声纳传感器的不确定性,实现了从局部地图到全局地图的更新。实验验证了该方法的可行性和有效性。

Building an accurate map in an unknown environment is an important element for an autonomous robot. In this paper, a new map building method using sonar data is presented. Bayes＇ rule is utilized to estimate the probability that an occupancy grid being occupied and to deal with sonar information which highly overcomes the uncertainty. Experimental results indicate the feasibility and validity.