Rasmus Bååth
Lund University Cognitive Science, Lund, Sweden
Birger Johansson
Lund University Cognitive Science, Lund, Sweden
Download article
Published in: The Swedish AI Society Workshop May 20-21; 2010; Uppsala University
Linköping Electronic Conference Proceedings 48:7, p. 27-34
Published: 2010-05-19
ISBN:
ISSN: 1650-3686 (print), 1650-3740 (online)
This paper describes an implementation of the occupancy grid algorithm; one of the most popular algorithms for robotic mapping. The algorithm is implemented on a robot setup at Lund University Cognitive Science (LUCS); and a number of experiments are conducted where the algorithm is exposed to different kinds of noise. The outcome show that the algorithm performs well given its parameters are tuned right. The conclusion is made that; in spite of its limitations; the occupancy grid map algorithm is a robust algorithm that works well in practice.
[1] C. Balkenius; J. Morén; B. Johansson; and M. Johnsson. Ikaros: Building cognitive models for robots. Advanced Engineering Informatics; 24 (1):40–48; 2009.
[2] A. Elfes. Using occupancy grids for mobile robot perception and navigation. Computer; 22(6):46– 57; June 1989. ISSN 0018-9162.
[3] A. Elfes and H. Moravec. High resolution maps fron wide angle sonar. IEEE International conference on Robotics and Automation; 1985.
[4] Martin C. Martin and Hans Moravec. Robot evidence grids. Technical Report CMU-RI-TR-96- 06; Robotics Institute; Carnegie Mellon University; Pittsburgh; PA; March 1996.
[5] S. Russell and P. Norvig. Artificial Intelligence -a Modern Approach; 2nd edition. Prentice Hall; 2002.
[6] S. Thrun; A. Bücken; W. Burgard; D. Fox; T. Fröhlinghaus; D. Henning; T. Hofmann; M. Krell; and T. Schmidt. Map learning and highspeed navigation in RHINO. In D. Kortenkamp; R.P. Bonasso; and R Murphy; editors; AI-based Mobile Robots: Case Studies of Successful Robot Systems. MIT Press; 1998.
[7] S. Thrun; M. Bennewitz; W. Burgard; A.B. Cremers; F. Dellaert; D. Fox; D. Hähnel; C. Rosenberg; N. Roy; J. Schulte; and D. Schulz. MINERVA: A second generation mobile tour-guide robot. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA); 1999.
