Next Article in Journal / Special Issue
Forecast-Driven Enhancement of Received Signal Strength (RSS)-Based Localization Systems
Previous Article in Journal
The Rise of Collaborative Mapping: Trends and Future Directions
Previous Article in Special Issue
A Self-Contained and Self-Checking LPS with High Accuracy
ISPRS Int. J. Geo-Inf. 2013, 2(4), 959-977; doi:10.3390/ijgi2040959

Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

, *  and
Human Computer Technology Laboratory, Universidad Autónoma de Madrid, Francisco Tomás y Valiente 11, Madrid 28049, Spain
* Author to whom correspondence should be addressed.
Received: 24 July 2013 / Revised: 25 September 2013 / Accepted: 27 September 2013 / Published: 14 October 2013
(This article belongs to the Special Issue Indoor Positioning and Indoor Navigation)
View Full-Text   |   Download PDF [4967 KB, uploaded 14 October 2013]   |  


This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented.
Keywords: FPGA; Occupancy Grid; mapping; low-cost FPGA; Occupancy Grid; mapping; low-cost
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
MDPI and ACS Style

Gonzalez-Arjona, D.; Sanchez, A.; López-Colino, F.; de Castro, A.; Garrido, J. Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots. ISPRS Int. J. Geo-Inf. 2013, 2, 959-977.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


[Return to top]
ISPRS Int. J. Geo-Inf. EISSN 2220-9964 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert