Making a Map-making Robot

Rasmus Bååth
Lund University Cognitive Science, Lund, Sweden

Birger Johansson
Lund University Cognitive Science, Lund, Sweden

Ladda ner artikelhttp://www.ep.liu.se/ecp_article/index.en.aspx?issue=048;article=007

Ingår i: The Swedish AI Society Workshop May 20-21; 2010; Uppsala University

Linköping Electronic Conference Proceedings 48:7, s. 27-34

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Publicerad: 2010-05-19


ISSN: 1650-3686 (tryckt), 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.


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