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

Akihisa Ohya, Yoshiaki Nagashima, Shin'ichi Yuta

研究成果: Conference contribution

17 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ485-492
ページ数8
pt 1
ISBN(印刷版)0818653329
出版ステータスPublished - 1994 1月 1
イベントProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
継続期間: 1994 5月 81994 5月 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
番号pt 1
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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