Original title: Concurrent mapping and localization based on potential fields
Authors: Věchet, Stanislav ; Krejsa, Jiří
Document type: Papers
Conference/Event: Engineering Mechanics 2011 /17./, Svratka (CZ), 2011-05-09 / 2011-05-12
Year: 2011
Language: eng
Abstract: 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.
Keywords: binary Bayes filter; occupancy grid mapping
Project no.: CEZ:AV0Z20760514 (CEP)
Host item entry: Engineering Mechanics 2011, ISBN 978-80-87012-33-8

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0197283

Permalink: http://www.nusl.cz/ntk/nusl-55919


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers