Log map occupancy grid in robot navigation

Julio A. Kovacs

doi:10.1117/12.335710

8 January 1999 Log map occupancy grid in robot navigation

Julio A. Kovacs

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335710
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

A navigation system for an autonomous mobile robot is described, which is basically probabilistic. The sensing of the environment is made through a rangefinder, each measurement updating an occupancy grid, which is the internal representation of the robot's environment. The vehicle uses only local information for path planning and obstacle avoidance, searching for the path of minimum cost to the goal. The robot's position and orientation estimates are corrected after each scan of the environment by making a least square fit between the internal map and the set of observed points. Results of computer simulations are shown.

Citation Download Citation

Julio A. Kovacs "Log map occupancy grid in robot navigation", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335710

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