Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

ISPRS International Journal of Geo-Information

David Gonzalez-Arjona²  Alberto Sanchez²  Fernando López-Colino²  Angel de Castro¹ 

[1] Human Computer Technology Laboratory, Universidad Autónoma de Madrid, Francisco Tomás y Valiente 11, Madrid 28049, Spain;

关键词: FPGA;    Occupancy Grid;    mapping;    low-cost;   

DOI  :  10.3390/ijgi2040959

来源: mdpi

【 摘 要 】

This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland