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Multipath Bayesian Map Construction Model from Sonar Data

Published online by Cambridge University Press:  09 March 2009

Jong Hwan Lim
Affiliation:
Assistant Professor, Dept. of Mech. Eng., Cheju National University.
Dong Woo Chof†
Affiliation:
Associate Professor, Dept. of Mech., Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang 790-784 (Korea)

Summary

A new model for the construction of a sonar map in a specular environment has been developed and implemented. In a real world, where most of the object surfaces are specular ones, a sonar sensor surfers from a multipath effect which results in a wrong interpretation of an object's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

Type
Article
Copyright
Copyright © Cambridge University Press 1996

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