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Proceedings Paper

Robot mapping with proximity detectors
Author(s): Raashid Malik; Samuel Prasad
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Paper Abstract

Robots operating in unknown environments need to acquire knowledge about the environment to facilitate navigation and other tasks. Control procedures that enable a robot to acquire environment knowledge are referred to as mapping our terrain-acquisition procedures. All motion control procedures are influenced by the underlying models. In this area the significant models are: the robot model, the sensor model and the environment model. In this paper we present a mapping algorithm that uses a sensor model based on a proximity detector. The sensor is capable of detecting the presence or absence of objects within an annular ring of radius R to R + (Delta) , surrounding the robot. The sensor provides no exact range information but does indicate that angular region of contact with an obstacle. The robot is modelled as a disc of radius r (r

Paper Details

Date Published: 4 May 1993
PDF: 5 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143829
Show Author Affiliations
Raashid Malik, Stevens Institute of Technology (United States)
Samuel Prasad, Stevens Institute of Technology (United States)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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