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• Gonzalez-Arjona, D
• Sanchez, A
• López-Colino, F
• de Castro, A
• Garrido, J
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• Gonzalez-Arjona, D
• Sanchez, A
• López-Colino, F
• de Castro, A
• Garrido, J
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• Gonzalez-Arjona, D
• Sanchez, A
• López-Colino, F
• de Castro, A
• Garrido, J

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ISPRS Int. J. Geo-Inf. 2013, 2(4), 959-977; doi:10.3390/ijgi2040959

Article

Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots

David Gonzalez-Arjona, Alberto Sanchez, Fernando López-Colino, Angel de Castro *  and Javier Garrido

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; in revised form: 25 September 2013 / Accepted: 27 September 2013 / Published: 14 October 2013

(This article belongs to the Special Issue Indoor Positioning and Indoor Navigation)

Download PDF Full-Text [4967 KB, uploaded 14 October 2013 12:55 CEST]

Abstract: 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

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