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Proceedings Paper

Real-time map building for a mobile robot
Author(s): Guoyin Zhang; Rubo Zhang; Guochang Gu
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Paper Abstract

This paper presents the method of map-building by use of the AUV that has avoidance ability. First, the method with which the free-space is distinguished from obstacle-space by use of sonar detective distance is discussed in detail after the avoidance strategies of the AUV are presented. The grid is adopted to represent the detective area according to detective results. Then image-processing technique is taken to eliminate the noise and extract features from mapping results. Finally, the shape of obstacle is identified and the detailed simulated results are given in this paper.

Paper Details

Date Published: 12 August 1998
PDF: 6 pages
Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); doi: 10.1117/12.317544
Show Author Affiliations
Guoyin Zhang, Harbin Engineering Univ. (China)
Rubo Zhang, Harbin Engineering Univ. (China)
Guochang Gu, Harbin Engineering Univ. (China)

Published in SPIE Proceedings Vol. 3366:
Robotic and Semi-Robotic Ground Vehicle Technology
Grant R. Gerhart; Ben A. Abbott, Editor(s)

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