Range finder models for mobile robots

摘要

The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding environment. The range data is used to compute grid a based model of the environment utilized for navigation tasks. The contribution accentuates the proposal of appropriate sensor models for the range finders. The models are designed on the basis of the sensor identification procedures and they are used to interpret distance measurements by sensory fusion algorithms. Experimental examples of occupancy grids built from real data recorded in the environment are presented.