Stochastic triangular mesh mapping: A terrain mapping technique for autonomous mobile robots

A new terrain mapping method for mobile robots obstacle negotiation

This paper introduces a new terrain mapping method for mobile robots with a 2-D laser rangefinder. In the proposed method, an elevation map and a certainty map are built and used for the filtering of erroneous data. The filter, called Certainty Assisted Spatial (CAS) filter, first employs the physical constraints on motion continuity and spatial continuity to distinguish corrupted pixels (e.g.,...

Occupancy Grid Based Path Planning and Terrain Mapping Scheme for Autonomous Mobile Robots

Autonomous mobile robots operate under partially or fully unknown environments. Based on sensor information robot identifies various obstacles and plans its path to reach the target without collision. These real time systems may not support extensive approaches for Path Planning and Terrain Mapping, due to their limited processing and memory capabilities. This paper proposes a simple distance b...

Multi-Layered Conceptual Spatial Mapping for Autonomous Mobile Robots

This paper presents an approach to spatial mapping for autonomous mobile robots that are to operate among, and interact with, non-expert human users. We argue that our approach of conceptual spatial mapping helps bridge the gap between the representations needed for low-level control of the robot, and the conceptualtopological representations of space humans have. Our approach maintains spatial...

Terrain Mapping For Long-duration Autonomous Walking

Sonar Mapping for Mobile Robots

We address the problem of building environment maps from ultrasonic range data obtained from multiple viewpoints. We present a novel environment modelling technique called the `response grid' that allows us to build occupancy maps in highly specular environments. We present three di erent approaches that utilise this technique: a Bayesian probabilisitic approach, a Dempster-Shafer evidential re...