Occupancy grid-based slam using a mobile robot with a ring of eight sonar transducers

Terzakis, G. and Dogramadzi, S. (2011) Occupancy grid-based slam using a mobile robot with a ring of eight sonar transducers. Lecture Notes in Computer Science, 6856. pp. 402-403. ISSN 0302-9743

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Publisher's URL: http://dx.doi.org/10.1007/978-3-642-23232-9_48

Abstract

The degree of accuracy by which a mobile robot can estimate the properties of its surrounding environment, and the ability to successfully navigate throughout the explored space are the main factors that may well determine its autonomy and efficiency with respect to the goals of the application. This paper focuses on the implementation of a SLAM framework comprising a planner, a percept and a displacement/angular error estimator using a regular occupancy grid spatial memory representation. The overall process is arbitrated by a finite state machine (FSM) invoking the compo-nents of the framework according to the deliberate paradigm, SENSE-PLAN-ACT as described by R. Murphy [1], with the occasional exception of the interstitial invoca-tion of a correction process, based on the estimated angular and displacement error during the execution of the planned tasks. The FSM uses a global task queue in order to execute the tasks that the planner produced during the previous call.

Item Type:Article
Additional Information:The original publication is available at www.springerlink.com
Uncontrolled Keywords:occupancy grid-based slam, mobile robot, sonar transducers
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:16100
Deposited By: Dr S. Dogramadzi
Deposited On:05 Dec 2011 13:03
Last Modified:22 May 2014 21:09

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