World modeling and position estimation for a mobile robot using ultrasonic ranging
Top Cited Papers
- 7 January 2003
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 674-680vol.2
- https://doi.org/10.1109/robot.1989.100062
Abstract
This paper describes a system for dynamically maintaining a description of the limits to free space for a mobile robot using a belt of ultrasonic range devices. These techniques are based on the principle of explicitly representing the uncertainty of the vehicle position as well as the uncertainty inherent in the sensing process. A model is presented for the uncertainty inherent in ultrasonic range sensors, and theKeywords
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