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Authors: Anderson A. S. Souza ; Andre M. Santana ; Ricardo S. Britto ; Luiz M. G. Gonçalves and Aderlardo A. D. Medeiros

Affiliation: UFRN, Brazil

Keyword(s): Mapping, Occupancy grid, Odometry.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:
A. S. Souza, A.; M. Santana, A.; S. Britto, R.; M. G. Gonçalves, L. and A. D. Medeiros, A. (2008). REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 202-206. DOI: 10.5220/0001500302020206

@conference{icinco08,
author={Anderson {A. S. Souza}. and Andre {M. Santana}. and Ricardo {S. Britto}. and Luiz {M. G. Gon\c{C}alves}. and Aderlardo {A. D. Medeiros}.},
title={REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2008},
pages={202-206},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500302020206},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - REPRESENTATION OF ODOMETRY ERRORS ON OCCUPANCY GRIDS
SN - 978-989-8111-31-9
IS - 2184-2809
AU - A. S. Souza, A.
AU - M. Santana, A.
AU - S. Britto, R.
AU - M. G. Gonçalves, L.
AU - A. D. Medeiros, A.
PY - 2008
SP - 202
EP - 206
DO - 10.5220/0001500302020206
PB - SciTePress

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