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Proceedings Paper

Log map occupancy grid in robot navigation
Author(s): Julio A. Kovacs
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Paper Abstract

A navigation system for an autonomous mobile robot is described, which is basically probabilistic. The sensing of the environment is made through a rangefinder, each measurement updating an occupancy grid, which is the internal representation of the robot's environment. The vehicle uses only local information for path planning and obstacle avoidance, searching for the path of minimum cost to the goal. The robot's position and orientation estimates are corrected after each scan of the environment by making a least square fit between the internal map and the set of observed points. Results of computer simulations are shown.

Paper Details

Date Published: 8 January 1999
PDF: 9 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335710
Show Author Affiliations
Julio A. Kovacs, General Industries Argentina (Argentina)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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