Extending the Occupancy Grid Concept for Low-Cost Sensor Based SLAM
Jerker Nordh, Karl Berntorp
The simultaneous localization and mapping problem is approached by using an
ultrasound sensor and wheel encoders. To be able to account for the low precision inherent in ultrasound sensors, the occupancy grid notion is extended. The extension takes into consideration with which angle the sensor is pointing, to compensate for the issue that an object is not necessarily detectable from all position due to deficiencies in how ultrasonic range sensors work. Also, a mixed linear/nonlinear model is derived for future use in Rao-Blackwellized
Rao-Blackwellized, Mobile robots, SLAM, Particle filtering, Kalman filtering, Occupancy grids
In 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, September 2012.