A histogram sensor fusion method for mobile robots

Qinmin Yang, Kui Yuan, Jiangfeng Li, Hui Wang
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引用次数: 7

Abstract

We describe a new method for a mobile robot equipped with ultrasonic sensors to construct and maintain a map of the environment for the purpose of obstacle avoidance and navigation. A new sonar model is given, which is a simplified Gaussian model for the sake of computing time. Furthermore, incidence angle information of sonar is combined with the range measurement to construct a two-dimensional histogram grid. The histogram grid shows a quick and accurate mapping. At the same time, with the incidence angle information, the method exhibits a good performance in solving the problem of door-finding and reducing phantom targets. Finally, the map-building system is experimentally evaluated in the real environment.
移动机器人的直方图传感器融合方法
我们描述了一种新的方法,移动机器人配备超声传感器来构建和维护环境地图,以避免障碍和导航。为了节省计算时间,提出了一种新的声纳模型,该模型是一种简化的高斯模型。进一步,将声纳入射角信息与距离测量相结合,构建二维直方图网格。直方图网格显示了快速准确的映射。同时,利用入射角信息,该方法在解决寻门问题和减少幻像目标方面表现出良好的性能。最后,在实际环境中对该地图生成系统进行了实验评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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