Grid mapping adaptive to various map sizes for Sbot

Hyunggi Jo, Hyukdoo Choi, Sungjin Jo, Euntai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Grid mapping is a fundamental mapping algorithm in the mobile robotics. This paper proposes an indoor grid mapping technique which is adaptive to various map size. Rao-Blackwellized Particle Filters (RBPF) have been used to build a map. Each mapping procedures has the different number of particles. Small area uses more particles than large area. The suitable number of particles can improve the map quality and leads to low computation cost. Experiments have been conducted with unmanned delivering robot named Sbot. It is equipped with laser scanners and sonar sensors. We demonstrated the mapping system in different indoor environments and proved its efficiency.

Original languageEnglish
Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages1678-1680
Number of pages3
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period13/10/2013/10/23

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Jo, H., Choi, H., Jo, S., & Kim, E. (2013). Grid mapping adaptive to various map sizes for Sbot. In ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems (pp. 1678-1680). [6704202] (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2013.6704202