Exploration of a Mobile Robot Based on Sonar Probability Mapping

[+] Author and Article Information
Byung-Kwon Min

Engineering Research Institute of Yonsei University, Seoul, Korea

Dong Woo Cho

Department of Mechanical Engineering, POSTECH, Pohang, Korea

Sang-Jo Lee, Young-Pil Park

Department of Mechanical Engineering, Yonsei University, Seoul, Korea

J. Dyn. Sys., Meas., Control 118(1), 150-157 (Mar 01, 1996) (8 pages) doi:10.1115/1.2801136 History: Received November 29, 1993; Online December 03, 2007


This paper suggests a new exploration strategy of an autonomous mobile robot in an unknown environment. Determination of a temporary goal based on a representation of work area named exploration quadtree is proposed. The exploration quadtree provides the information on quality of the regions concerned in a robot’s workspace. Using this quadtree the robot easily finds the next temporary goal that makes exploration more efficient. The quadtree is made up from a sonar probability map that is constructed by sonar range sensing and Bayesian probability theory. We then propose a method that plans a path between the determined temporary goals based on a probability map. The developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory, and shown to be useful enough in a real environment that can be projected onto a two-dimensional space.

Copyright © 1996 by The American Society of Mechanical Engineers
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