DYNAMIC WORLD MODELING FOR A MOBILE ROBOT AMONG MOVING-OBJECTS

A grid-based method for detecting moving objects is presented. This me thod involves the extension and combination of two methods: (1) the Ho ugh Transform and (2) the Occupancy Grid method. The Occupancy Grid me thod forms the basis for a probabilistic estimation of the location an d velocity of objects in the scene from the sensor data. The Hough Tra nsform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental res ults show that this method can handle objects moving at non-integer ve locities.