A Fusion Algorithm forBuilding MapsinConfined Environments forMobile Robots
Guoliang Liu, Wanjun Haot, Shizuo Yant, Zengqi Sun, WenyiQiangt · 2006
Someproblems associated withbuilding mapin confined environments formobile robots arestudied inthis work.Theuncertainties arising fromspecular reflection of ultrasonic sensors cannotmakemobilerobotsrecognize theirsurrounding environments correctly when mobile robotsnavigate in a confined environment. If the environment isknownandunchanged, itsmapcanbebuilt withultrasonic sensors inadvancebeforenavigation is performed. Thismapcanprovide reliable information about theenvironment whenmobilerobots work.A multi-layer fusion algorithm isproposed forbuilding themap in advance. Forthesituation thattheenvironment isunknown orvariable, anadaptive ultrasonic sensor modelisapplied tobuild mapdynamically. Theexperiment results indicate thattheabovefusion algorithms improve theperformance ofultrasonic sensors.