Please use this identifier to cite or link to this item: https://repositorio.ufrn.br/jspui/handle/1/6116
Title: Representation of odometry errors on occupancy grids
Authors: Souza, Anderson A. S.
Santana, Andre M.
Britto, Ricardo S.
Gonalves, Luiz M. G.
Medeiros, Adelardo Adelino Dantas de
Keywords: Mapping;Occupancy grid;Odometry
Issue Date: 2008
Publisher: International Conference on Informatics in Control, Automation and Robotics
Citation: SOUZA, A. A.S. ; SANTANA, A. M. ; BRITTO, R. S. ; GONÇALVES, L. M. G. ; MEDEIROS, A. A. D. (2008)
Abstract: In this work we propose an enhanced model for mapping from sonar sensors and odometry that allows a robot to represent an environment map in a more suitable way to both the sonar sensory data and odometry system of the robot. We use a stochastic modelling of the errors that brings up reliable information. As a contribution, we obtain a final map that is more coherent with the reality of the original data provided by the robotic system. Practical experiments show the results obtained with the proposed modification to be trustable in such a way that this map can be used to provide previous knowledge to the mobile robot in order to perform its tasks in an easier and accurate way. Moreover, the map can help the robot to support unexpected situations inside of the environment.
Description: SOUZA, Anderson A. S. ; SANTANA, André M. ; BRITTO, Ricardo S. ; GONÇALVES, Luiz Marcos G. ; MEDEIROS, Adelardo A. D. Representation of Odometry Errors on Occupancy Grids. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.
URI: http://repositorio.ufrn.br:8080/jspui/handle/1/6116
Appears in Collections:CT - DCA - Trabalhos apresentados em eventos

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