Referenced Items are not available for this document.
This paper introduces an approach to generating environmental maps based on ultrasonic range data. By means of a learning classifier ultrasonic range data are condensed yielding abstract concepts which enable a mobile robot to discern situations. As a consequence the free-space can be partitioned into situation areas which are defined as regions wherein a specific situation can be recognized. Using dead-reckoning such situation areas can be attached to graph nodes generating a map of the free-space in the form of a graph representation. How the extended Kalman filter algorithm can be applied in this context to compensate the dead-reckoning drift is also discussed
Published in:
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
(Volume:26
,
Issue:
2
)
Date of Publication: Apr 1996
- Page(s):
- 233 - 242
- ISSN :
- 1083-4419
- INSPEC Accession Number:
- 5238869
- Digital Object Identifier :
- 10.1109/3477.485835
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Apr 1996
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
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