Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/71259
Title: Online map building for autonomous mobile robots by fusing laser and sonar data
Authors: Lai, X.-C.
Kong, C.-Y.
Ge, S.S. 
Mamun, A.A. 
Issue Date: 2005
Source: Lai, X.-C.,Kong, C.-Y.,Ge, S.S.,Mamun, A.A. (2005). Online map building for autonomous mobile robots by fusing laser and sonar data. IEEE International Conference on Mechatronics and Automation, ICMA 2005 : 993-998. ScholarBank@NUS Repository.
Abstract: This paper presents a practical method of online building maps automatically by fusing laser and sonar data. Sensor modeling is used to translate range data into grid status information of the local map, and Bayes' rule is employed to update the global map with this local map. For online mapping and pose estimation, the problem of Simultaneous Localization and Mapping is solved by applying scan matching using laser data. A selective method is proposed to fuse laser and sonar data for better obstacle detection and mapping. Finally, navigation using a fuzzy controller is implemented based on fusion of sensor data, which enables the algorithm to build maps autonomously. © 2005 IEEE.
Source Title: IEEE International Conference on Mechatronics and Automation, ICMA 2005
URI: http://scholarbank.nus.edu.sg/handle/10635/71259
ISBN: 0780390458
Appears in Collections:Staff Publications

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