Engineering Mechanics

Proceedings Vol. 14 (2008)

ENGINEERING MECHANICS 2008

Copyright © 2008 Institute of Thermomechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague

 

Krejsa J., Věchet S.
pages 130 - +5p., full text

The paper is focused on fast method which uses subsequent proximity sensor scans of mobile robot environment to determine the robot position and orientation and to build a local map. The environment is supposed to be unknown. The method, based on Potential-Based Scan Matching which gives a measure of scan match is combined with gradient descent in order to find the proper match of two scans in reasonable time. Tests of robustness against the noise in sensor readings are included.

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