RT info:eu-repo/semantics/article
T1 Dynamic gridmaps: comparing building techniques
A1 Matellán Olivera, Vicente
A1 Cañas, José María
A2 Arquitectura y Tecnologia de Computadores
K1 Informática
K1 Cuadrículas dinámicas
K1 Robots móviles
AB Mobile robots need to represent obstacles in their surroundings, evenmoving ones, to make right movement decisions. For higher autonomy therobot should automatically build such representation from its sensory input.This paper compares the dynamic character of several gridmap building techniques: probabilistic, fuzzy, theory of evidence and histogramic. Two criteriaare defined to rank such dynamism in the representation: time to show a newobstacle and time to show a new hole. The update rules for first three suchtechniques hold associative property which confers them static character, inconvenient for dynamic environments. Major contribution of this paper is theintroduction of two new approaches are presented to improve the perceptionof mobile obstacles: one uses a differential equation to update the map andanother uses majority voting in a limited memory per cell. Their dynamismsare also evaluated and the results presented
PB European Society for Fuzzy Logic and Technology
YR 2012
FD 2012-11-09
LK http://hdl.handle.net/10612/1994
UL http://hdl.handle.net/10612/1994
NO Mathware and Soft Computing Journal, 2006, vol. XIII, n. 1
NO P. 5-22
DS BULERIA. Repositorio Institucional de la Universidad de León
RD Jul 7, 2024