Robot mapping with proximity detectors

Raashid Malik; Samuel Prasad

doi:10.1117/12.143829

4 May 1993 Robot mapping with proximity detectors

Raashid Malik, Samuel Prasad

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143829
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

Robots operating in unknown environments need to acquire knowledge about the environment to facilitate navigation and other tasks. Control procedures that enable a robot to acquire environment knowledge are referred to as mapping our terrain-acquisition procedures. All motion control procedures are influenced by the underlying models. In this area the significant models are: the robot model, the sensor model and the environment model. In this paper we present a mapping algorithm that uses a sensor model based on a proximity detector. The sensor is capable of detecting the presence or absence of objects within an annular ring of radius R to R + (Delta) , surrounding the robot. The sensor provides no exact range information but does indicate that angular region of contact with an obstacle. The robot is modelled as a disc of radius r (r

Citation Download Citation

Raashid Malik and Samuel Prasad "Robot mapping with proximity detectors", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143829

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