Application of digital filter on map building for mobile robot
Xia Ming-liang · Qiye jishu kaifa · 2010
As a typical distance sensor,the ultrasonic sensor has been widely used in mobile robot navigation,obstacle avoidance and map building.But it have some disadvantages,such as there are beam angle,poor direction and prone to reflections by some obstacles.Therefore,the key is to establish a suitable model for ultrasonic sensors and effectively process ultrasonic data.In the paper,we use arc models to simplicity ultrasonic information.And then the digit filter is presented to improve the direction and fuse ultrasonic data.Experiments proves that the environment map building can be improved.