Improved Occupancy-grid Map Building and Updating for Robot Navigation

초록

The Purpose of this research is to build and to update an environment model for a quality-improved occupancy grid map of an autonomous mobile robot based on the measurements from ultrasonic sensor, which are acquired when the robot explores unknown indoor environment. A map building and updating algorithm sonsists of three stages: occupancy grid map building, travelling and map updating. In the map building stage, the robot navigates and environment information is recorded in a database automatically. Then, an off-line procedure is performed to build an initial environment model. Also this model is improved by occupancy grid map based on modified Bayesian probability updating rule . In the travelling stage, the robot moves along the learned environment automatically, locates itself by map matching, and preserves necessary information for map updating. In the map updating stage, an off-line procedure is activated to refine the learned model. These procedures are implemented and tested using an Pioneer 2-DXE and primary results are presented in this paper.