0
TECHNICAL BRIEFS

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

Abstract

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
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In