Simplified occupancy grid indoor mapping optimized for Low-Cost robots
Entity
UAM. Departamento de Tecnología Electrónica y de las ComunicacionesPublisher
MDPIDate
2013-10-14Citation
10.3390/ijgi2040959
ISPRS International Journal of Geo-Information 2.4 (2013): 959-977
ISSN
2220-9964DOI
10.3390/ijgi2040959Funded by
This work has been supported by the Spanish Ministerio de Ciencia e Innovación under project TEC2009-09871.Editor's Version
http://dx.doi.org/10.3390/ijgi2040959Subjects
FPGA; Occupancy grid; Mapping; Low-cost; TelecomunicacionesNote
© 2013 by MDPI (http://www.mdpi.org). Reproduction is permitted for noncommercial purposes.Rights
© 2013 MDPIAbstract
This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.
Files in this item
Google Scholar:González Arjona, David
-
Sánchez González, Alberto
-
López Colino, Fernando Jesús
-
Castro, Ángel de
-
Garrido Salas, Javier
This item appears in the following Collection(s)
Related items
Showing items related by title, author, creator and subject.