DocumentCode :
2396354
Title :
Probabilistic Map Building by Coordinated Mobile Sensors
Author :
Chen, Jen-Yeu ; Hu, Jianghai
Author_Institution :
Sch. of Electr. & Comput. Eng., Purdue Univ., West Lafayette, IN
fYear :
0
fDate :
0-0 0
Firstpage :
807
Lastpage :
812
Abstract :
In this paper, we develop an efficient algorithm for coordinating a group of mobile robotic sensors to collaboratively construct the probabilistic map (occupancy grid) of a random field. Each mobile sensor is responsible for exploring its online-computed dynamic Voronoi polygon with a tendency of moving toward the most uncertain area, thus avoiding energy and time waste from wandering around and surplus explorations. The performance is measured by the total entropy of the built probabilistic map. Simulation results show that our algorithm is both time and energy efficient
Keywords :
computational geometry; entropy; mobile robots; multi-robot systems; wireless sensor networks; coordinated mobile robotic sensors; occupancy grid; online-computed dynamic Voronoi polygon; probabilistic map building; random field; total entropy; Buildings; Collaboration; Energy efficiency; Entropy; Mobile robots; Robot kinematics; Robot sensing systems; Shape; Simultaneous localization and mapping; Working environment noise;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Ft. Lauderdale, FL
Print_ISBN :
1-4244-0065-1
Type :
conf
DOI :
10.1109/ICNSC.2006.1673250
Filename :
1673250
Link To Document :
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