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.
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;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2005. IMTC 2005. Proceedings of the IEEE
Conference_Location :
Ottawa, Ont.
Print_ISBN :
0-7803-8879-8
DOI :
10.1109/IMTC.2005.1604562
