Proceedings Vol. 14 (2008)
ENGINEERING MECHANICS 2008
May 12 – 15, 2008, Svratka, Czech Republic
Copyright © 2008 Institute of Thermomechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
pages 130 - +5p., full text
The paper is focused on fast method which uses subsequent proximity sensor scans of mobile robot environment to determine the robot position and orientation and to build a local map. The environment is supposed to be unknown. The method, based on Potential-Based Scan Matching which gives a measure of scan match is combined with gradient descent in order to ﬁnd the proper match of two scans in reasonable time. Tests of robustness against the noise in sensor readings are included.
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