[1]LI Run-wei,CAI Zi-xing,TONG Yu.Improving the accuracy of exploring the narrow environment by using ATM[J].CAAI Transactions on Intelligent Systems,2008,3(4):283-287.
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Improving the accuracy of exploring the narrow environment by using ATM

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 3 Number of periods: 2008 4 Page number: 283-287 Column: 学术论文—人工智能基础 Public date: 2008-08-25
Title:
Improving the accuracy of exploring the narrow environment by using ATM
Author(s):
LI Run-wei1; CAI Zi-xing1; TONG Yu2
1.School of Information Science and Engineering; Central South University; Changsha 410083; China;
2.Hunan Public Security College; Changsha 410138; China
Keywords:
mobile robot;  sonar;  map building;  tangent;  intersection
CLC:
TP24
DOI:
-
Abstract:
A method is p roposed for imp roving the accuracy ofmapp ing data generated bymobile robots by using the arc2transversalmedian (ATM) algorithm. Although sonar sensors can accurately determine the distance between objects and the robot, they can’t p recisely estimate the azimuth of the object. We used the uniform distribution mod2 el as our sonarmodel, in which the range of change of angle formed by two tangents was p rescribed, and weights were app lied. Finally, errorswere adjusted. Experimentswith real2time map buildingwere made on theMORCS22 robot p latform. They showed exciting and p romising results, and verified the accuracy and feasibility of the p ro2 posed method.
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