DocumentCode
3382171
Title
Evidential Mapping for Mobile Robots with Range Sensors
Author
Yang, Tun ; Aitken, Victor
Author_Institution
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont.
Volume
3
fYear
2005
fDate
16-19 May 2005
Firstpage
2180
Lastpage
2185
Abstract
Mapping for mobile robots integrates noisy, spurious sensor data into a single coherent map useful for navigational purposes. The Bayesian framework to mapping is contrasted to the evidential framework, and a sensor model is described for range sensors to work with evidential mapping. The model is simulated and evaluated under varying parameters and in different test environments
Keywords
Bayes methods; mobile robots; navigation; path planning; sensor fusion; Bayesian framework; evidential mapping; mobile robots; robot navigational; sensor fusion; sensor model; soft computing; Bayesian methods; Humanoid robots; Intelligent sensors; Merging; Mobile robots; Navigation; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Simultaneous localization and mapping; Soft computing for intelligent I&M systems; fault-tolerant I&M systems; sensor fusion;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation and Measurement Technology Conference, 2005. IMTC 2005. Proceedings of the IEEE
Conference_Location
Ottawa, Ont.
Print_ISBN
0-7803-8879-8
Type
conf
DOI
10.1109/IMTC.2005.1604562
Filename
1604562
Link To Document