Sonar map construction for autonomous mobile robots using a data association filter

Yu Cheol Lee, Jong Hwan Lim, Dong Woo Cho, Wan Kyun Chung

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

This paper presents a method for building a probability grid map for autonomous mobile robots with ultrasonic sensors using a data association filter (DAF). The method is based on evaluating the possibility that the acquired sonar data are all reflected by the same object. The DAF is able to associate data points with each other. Data affected by specular reflection are not likely to be associated with the same object, so they are excluded from the data cluster by the DAF, thereby improving the reliability of the data used for the probability grid map. Since the corrupted data are not used to update the probability map, it is possible to build a good quality grid map even in a specular environment. The DAF was applied to the Bayesian and the Orientation probability models, which are typical models used to build grid maps, to verify its effectiveness. Experimental results were also obtained using a mobile robot in a real-world environment.

Original languageEnglish
Pages (from-to)185-201
Number of pages17
JournalAdvanced Robotics
Volume23
Issue number1-2
DOIs
StatePublished - 1 Jan 2009

Keywords

  • Bayesian model
  • Data association
  • Mapping
  • Mobile robot
  • Sonar

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