Abstract
This study implements a digital map building method for a mobile robot operating in an environment with obstacles by fusing sensor data. Required information for a map designing is supplied by fusion of different sensor data using sequential principal component method. We discuss mathematical and experimental issues of the method. Application of the method for grid based map building is introduced and suitability in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot successfully.
| Original language | English |
|---|---|
| Pages (from-to) | 444-449 |
| Number of pages | 6 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 4902 |
| DOIs | |
| Publication status | Published - 2002 |
| Event | Optomechatronic Systems III - Stuttgart, Germany Duration: 12 Nov 2002 → 14 Nov 2002 |
Keywords
- Map building
- Mobile robot
- Sensor data fusion
- SPM method