Localisation and Mapping with a Mobile Robot Using Sparse Range Data

  • We present an approach for indoor mapping and localisation using sparse range data, acquired by a mobile robot equipped with sonar sensors. The chapter consists of two main parts. First, a split and merge based method for dividing a given metric map into distinct regions is presented, thus creating a topological map in a metric framework. Spatial information extracted from this map is then used for self-localisation on the return home journey. The robot computes local confidence maps for two simple localisation strategies based on distance and relative orientation of regions. These local maps are then fused to produce overall confidence maps.

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Metadaten
Author:Jochen SchmidtORCiD, C.K. Wong, W.K. Yeap
Parent Title (German):Autonomous Robots and Agents, Studies in Computational Intelligence (SCI),
Publisher:Springer
Document Type:Article (peer reviewed)
Language:German
Publication Year:2007
Year of first Publication:2018
Tag:Mobile Robot; Robotic Research; Sensor Data Fusion; Sonar Sensor
faculties / departments:Fakultät für Informatik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke