Real-time map building for a mobile robot

Guoyin Zhang; Rubo Zhang; Guochang Gu

doi:10.1117/12.317544

12 August 1998 Real-time map building for a mobile robot

Guoyin Zhang, Rubo Zhang, Guochang Gu

Proceedings Volume 3366, Robotic and Semi-Robotic Ground Vehicle Technology; (1998) https://doi.org/10.1117/12.317544
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

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.

Citation Download Citation

Guoyin Zhang, Rubo Zhang, and Guochang Gu "Real-time map building for a mobile robot", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); https://doi.org/10.1117/12.317544

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