Occupancy grid-based SLAM using a mobile robot with a ring of eight sonar transducers

Georgios Terzakis*, Sanja Dogramadzi

*Corresponding author for this work

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

Abstract

The degree of accuracy by which a mobile robot can estimate the properties of its surrounding environment, and the ability to successfully navigate throughout the explored space are the main factors that may well determine its autonomy and efficiency with respect to the goals of the application. This paper focuses on the implementation of a SLAM framework comprising a planner, a percept and a displacement/angular error estimator using a regular occupancy grid spatial memory representation.

Original languageEnglish
Title of host publicationTowards autonomous robotic systems
Subtitle of host publication12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 – September 2, 2011. proceedings
EditorsRoderich Groß, Lyuba Alboul, Chris Melhuish, Mark Witkowski, Tony J. Prescott, Jacques Penders
Place of PublicationCham
PublisherSpringer
Pages402-403
ISBN (Electronic)9783642232329
ISBN (Print)9783642232312
DOIs
Publication statusPublished - 2011
Event12th Annual Conference on Towards Autonomous Robotic Systems - Sheffield, United Kingdom
Duration: 31 Aug 20112 Sep 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6856
ISSN (Print)0302-9743
ISSN (Electronic)16113-349

Conference

Conference12th Annual Conference on Towards Autonomous Robotic Systems
Abbreviated titleTAROS 2011
Country/TerritoryUnited Kingdom
CitySheffield
Period31/08/112/09/11

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