SONAR MAPPING OF A MOBILE ROBOT CONSIDERING POSITION UNCERTAINTY

This paper suggests a new sonar mapping method considering the positio n uncertainty of a mobile robot, Sonar mapping is used for recognizing the unknown environment for a mobile robot during navigation, Usually accumulated position error of a mobile robot causes considerable dete rioration of the quality of a constructed map, In this paper, therefor e, a new Bayesian probability map construction method is proposed, whi ch considers estimation of the position error of a mobile robot. In th is method, we applied approximation transformation theory to estimate the position uncertainty of a real mobile robot, and introduced cell o rdering uncertainty caused by the position uncertainty of a robot in c ell-based map updating, Through simulation we showed the effect of a r obot's position uncertainty on the quality of a reconstructed map, Als o, the developed methods were implemented on a real mobile robot, AMRO YS-II, which was built in our laboratory and shown to be useful enough in a real environment. (C) 1997 Elsevier Science Ltd.