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Dynamic world modeling for a mobile robot among moving objects

Published online by Cambridge University Press:  09 March 2009

Yuefeng Zhang  and
Robert E. Webber
Yuefeng Zhang
Affiliation:
Software Technology Group, Honeywell Hi-Spec Solutions, 343 Dundas Street, Suite 100 London, Ontario (Canada) N6B 1V5.
Robert E. Webber
Affiliation:
Department of Computer Science, The University of Western Ontario, London, Ontario (Canada) N6A 5B7.
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Summary

A grid-based method for detecting moving objects is presented. This method involves the extension and combination of two methods: (1) the Hough Transform and (2) the Occupancy Grid method. The Occupancy Grid method forms the basis for a probabilistic estimation of the location and velocity of objects in the scene from the sensor data. The Hough Transform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental results show that this method can handle objects moving at non-integer velocities.

Keywords

Mobile robotMoving objectsDynamic modelingGrid-based method
Type
Article
Information
Robotica , Volume 14 , Issue 5 , September 1996 , pp. 553 - 560
Copyright
Copyright © Cambridge University Press 1996

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