Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls

Akihisa Ohya, Yoshiaki Nagashima, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

Ultrasonic sensors are very useful for mobile robots because they have the advantage that the systems are simple and are easy to handle. When a mobile robot is navigated using an ultrasonic sensor, the map of the environment should include information about the reflection characteristics of objects. For this purpose, the map using a vector expression is better than a grid map. In this paper, an environment reconstruction method using a vector map is proposed. In this method, the environment is reconstructed from the data obtained by using our novel ultrasonic sensor which can measure the normal direction of walls, and the next sensing point is determined automatically. The experimental results of a map construction using this algorithm are shown. As a result of the experiments, it is found that the measurement of walls is possible using this method and the effectiveness of the planning algorithm for the sensing point is verified.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages485-492
Number of pages8
Editionpt 1
ISBN (Print)0818653329
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period94/5/894/5/13

Fingerprint

Ultrasonic sensors
Ultrasonics
Mobile robots
Planning
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Ohya, A., Nagashima, Y., & Yuta, S. (1994). Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls. In Proceedings - IEEE International Conference on Robotics and Automation (pt 1 ed., pp. 485-492). Piscataway, NJ, United States: Publ by IEEE.

Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls. / Ohya, Akihisa; Nagashima, Yoshiaki; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. pt 1. ed. Piscataway, NJ, United States : Publ by IEEE, 1994. p. 485-492.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ohya, A, Nagashima, Y & Yuta, S 1994, Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls. in Proceedings - IEEE International Conference on Robotics and Automation. pt 1 edn, Publ by IEEE, Piscataway, NJ, United States, pp. 485-492, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 94/5/8.
Ohya A, Nagashima Y, Yuta S. Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls. In Proceedings - IEEE International Conference on Robotics and Automation. pt 1 ed. Piscataway, NJ, United States: Publ by IEEE. 1994. p. 485-492
Ohya, Akihisa ; Nagashima, Yoshiaki ; Yuta, Shinichi. / Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls. Proceedings - IEEE International Conference on Robotics and Automation. pt 1. ed. Piscataway, NJ, United States : Publ by IEEE, 1994. pp. 485-492
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