Název:
Concurrent mapping and localization based on potential fields
Autoři:
Věchet, Stanislav ; Krejsa, Jiří Typ dokumentu: Příspěvky z konference Konference/Akce: Engineering Mechanics 2011 /17./, Svratka (CZ), 2011-05-09 / 2011-05-12
Rok:
2011
Jazyk:
eng
Abstrakt: Presented paper deals with Concurrent Mapping and Localization as a method to build the local map for the autonomous mobile robot. Building accurate local map is necessary for the successful navigation through the crowded environment densely populated with dynamic obstacles. The occupancy grid mapping algorithm was used due to the high uncertainty in the measurements of dynamic obstacles. As the occupancy grid algorithm is of probabilistic nature the implementation is straightforward and is also capable to generate the results in real-time.
Klíčová slova:
binary Bayes filter; occupancy grid mapping Číslo projektu: CEZ:AV0Z20760514 (CEP) Zdrojový dokument: Engineering Mechanics 2011, ISBN 978-80-87012-33-8
Instituce: Ústav termomechaniky AV ČR
(web)
Informace o dostupnosti dokumentu:
Dokument je dostupný v příslušném ústavu Akademie věd ČR. Původní záznam: http://hdl.handle.net/11104/0197283