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Sonar Map Construction for Ubiquitous Robotic System Using a Footprint Association Filter

[+] Author Affiliations
Yu-Cheol Lee, Wonpil Yu

Electronics and Telecommunications Research Institute, Daejeon, Korea

Jong-Hwan Lim

Cheju National University, Pohang, Korea

Wan Kyun Chung, Dong-Woo Cho

Pohang University of Science and Technology, Pohang, Korea

Paper No. DETC2007-34701, pp. 31-39; 9 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4805-1 | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper presents a method for building a probability grid map for autonomous mobile robots with ultrasonic sensors using a footprint association filter (FAF). The method is based on evaluating the possibility that the acquired sonar data are all reflected by the same object. The FAF is able to associate data points with each other. Data affected by specular reflection are not likely to be associated with the same object, so they are excluded from the data cluster by the FAF, thereby improving the reliability of the data used for the probability grid map. Since the corrupted data are not used to update the probability map, it is possible to build a good quality grid map even in a specular environment. The FAF was applied to the Bayesian probability models, which are typical models used to build grid maps, to verify its effectiveness. Experimental results were also obtained using a mobile robot in a ubiquitous home environment.

Copyright © 2007 by ASME



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