Representation of odometry errors on occupancy grids
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... Fun...
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ri-1-61162017-11-02T20:17:39Z Representation of odometry errors on occupancy grids Souza, Anderson A. S. Santana, Andre M. Britto, Ricardo S. Gonalves, Luiz M. G. Medeiros, Adelardo Adelino Dantas de Mapping Occupancy grid Odometry 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. 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. 2010-12-09T19:56:13Z 2010-12-09T19:56:13Z 2008 article SOUZA, A. A.S. ; SANTANA, A. M. ; BRITTO, R. S. ; GONÇALVES, L. M. G. ; MEDEIROS, A. A. D. (2008) https://repositorio.ufrn.br/jspui/handle/1/6116 por Acesso Aberto application/pdf International Conference on Informatics in Control, Automation and Robotics |
| institution |
Repositório Institucional |
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RI - UFRN |
| language |
por |
| topic |
Mapping Occupancy grid Odometry |
| spellingShingle |
Mapping Occupancy grid Odometry Souza, Anderson A. S. Santana, Andre M. Britto, Ricardo S. Gonalves, Luiz M. G. Medeiros, Adelardo Adelino Dantas de Representation of odometry errors on occupancy grids |
| 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. |
| format |
article |
| author |
Souza, Anderson A. S. Santana, Andre M. Britto, Ricardo S. Gonalves, Luiz M. G. Medeiros, Adelardo Adelino Dantas de |
| author_facet |
Souza, Anderson A. S. Santana, Andre M. Britto, Ricardo S. Gonalves, Luiz M. G. Medeiros, Adelardo Adelino Dantas de |
| author_sort |
Souza, Anderson A. S. |
| title |
Representation of odometry errors on occupancy grids |
| title_short |
Representation of odometry errors on occupancy grids |
| title_full |
Representation of odometry errors on occupancy grids |
| title_fullStr |
Representation of odometry errors on occupancy grids |
| title_full_unstemmed |
Representation of odometry errors on occupancy grids |
| title_sort |
representation of odometry errors on occupancy grids |
| publisher |
International Conference on Informatics in Control, Automation and Robotics |
| publishDate |
2010 |
| url |
https://repositorio.ufrn.br/jspui/handle/1/6116 |
| work_keys_str_mv |
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| _version_ |
1773962435606085632 |