Simplified Occupancy Grid Indoor Mapping Optimized for Low-Cost Robots
by
David Gonzalez-Arjona, Alberto Sanchez
, Fernando López-Colino, Angel De Castro * and Javier Garrido
, 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.
ISPRS Int. J. Geo-Inf. 2013, 2(4), 959-977; https://doi.org/10.3390/ijgi2040959
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)
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.
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Keywords:
FPGA; Occupancy Grid; mapping; low-cost
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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.
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