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Multipath Bayesian Map Construction Model from Sonar Data

Published online by Cambridge University Press:  09 March 2009

Jong Hwan Lim  and
Dong Woo Chof†
Jong Hwan Lim
Affiliation:
Assistant Professor, Dept. of Mech. Eng., Cheju National University.
Dong Woo Chof†
Affiliation:
Associate Professor, Dept. of Mech., Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang 790-784 (Korea)
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Summary

A new model for the construction of a sonar map in a specular environment has been developed and implemented. In a real world, where most of the object surfaces are specular ones, a sonar sensor surfers from a multipath effect which results in a wrong interpretation of an object's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

Keywords

Map constructionSonar dataMultipath effectsBayesian reasoningMobile robot.

Information

Type
Article
Information
Robotica , Volume 14 , Issue 5 , September 1996 , pp. 527 - 540
Copyright
Copyright © Cambridge University Press 1996

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