REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS

Anderson A. S. Souza, Andre M. Santana, Ricardo S. Britto, Luiz M. G. Gonçalves, Aderlardo A. D. Medeiros

Abstract

In this work we propose an enhanced model for mapping from sonar sensors and odometry that allows a robot to represent an environment map in a more suitable way to both the sonar sensory data and odometry system of the robot. We use a stochastic modelling of the errors that brings up reliable information. As a contribution, we obtain a final map that is more coherent with the reality of the original data provided by the robotic system. Practical experiments show the results obtained with the proposed modification to be trustable in such a way that this map can be used to provide previous knowledge to the mobile robot in order to perform its tasks in an easier and accurate way. Moreover, the map can help the robot to support unexpected situations inside of the environment.

References

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Paper Citation


in Harvard Style

A. S. Souza A., M. Santana A., S. Britto R., M. G. Gonçalves L. and A. D. Medeiros A. (2008). REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 202-206. DOI: 10.5220/0001500302020206


in Bibtex Style

@conference{icinco08,
author={Anderson A. S. Souza and Andre M. Santana and Ricardo S. Britto and Luiz M. G. Gonçalves and Aderlardo A. D. Medeiros},
title={REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={202-206},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500302020206},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS
SN - 978-989-8111-31-9
AU - A. S. Souza A.
AU - M. Santana A.
AU - S. Britto R.
AU - M. G. Gonçalves L.
AU - A. D. Medeiros A.
PY - 2008
SP - 202
EP - 206
DO - 10.5220/0001500302020206