TY - GEN
T1 - Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls
AU - Ohya, Akihisa
AU - Nagashima, Yoshiaki
AU - Yuta, Shin'ichi
PY - 1994/1/1
Y1 - 1994/1/1
N2 - Ultrasonic sensors are very useful for mobile robots because they have the advantage that the systems are simple and are easy to handle. When a mobile robot is navigated using an ultrasonic sensor, the map of the environment should include information about the reflection characteristics of objects. For this purpose, the map using a vector expression is better than a grid map. In this paper, an environment reconstruction method using a vector map is proposed. In this method, the environment is reconstructed from the data obtained by using our novel ultrasonic sensor which can measure the normal direction of walls, and the next sensing point is determined automatically. The experimental results of a map construction using this algorithm are shown. As a result of the experiments, it is found that the measurement of walls is possible using this method and the effectiveness of the planning algorithm for the sensing point is verified.
AB - Ultrasonic sensors are very useful for mobile robots because they have the advantage that the systems are simple and are easy to handle. When a mobile robot is navigated using an ultrasonic sensor, the map of the environment should include information about the reflection characteristics of objects. For this purpose, the map using a vector expression is better than a grid map. In this paper, an environment reconstruction method using a vector map is proposed. In this method, the environment is reconstructed from the data obtained by using our novel ultrasonic sensor which can measure the normal direction of walls, and the next sensing point is determined automatically. The experimental results of a map construction using this algorithm are shown. As a result of the experiments, it is found that the measurement of walls is possible using this method and the effectiveness of the planning algorithm for the sensing point is verified.
UR - http://www.scopus.com/inward/record.url?scp=0028131035&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0028131035
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 485
EP - 492
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Y2 - 8 May 1994 through 13 May 1994
ER -