Concurrent mapping and localization based on potential fields

0359502 - ÚT 2012 RIV CZ eng C - Conference Paper (international conference)
Věchet, Stanislav - Krejsa, Jiří
Concurrent mapping and localization based on potential fields.
Engineering Mechanics 2011. Prague: Institute of Thermomechanics AS CR, v. v. i., 2011 - (Fuis, V.), s. 647-650. ISBN 978-80-87012-33-8.
[Engineering Mechanics 2011 /17./. Svratka (CZ), 09.05.2011-12.05.2011]
Institutional research plan: CEZ:AV0Z20760514
Keywords : occupancy grid mapping * binary Bayes filter
Subject RIV: JD - Computer Applications, Robotics

Presented paper deals with Concurrent Mapping and Localization as a method to build the local map for the autonomous mobile robot. Building accurate local map is necessary for the successful navigation through the crowded environment densely populated with dynamic obstacles. The occupancy grid mapping algorithm was used due to the high uncertainty in the measurements of dynamic obstacles. As the occupancy grid algorithm is of probabilistic nature the implementation is straightforward and is also capable to generate the results in real-time.
Permanent Link: http://hdl.handle.net/11104/0197283