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음향학에 기반한 자율이동로봇의 초음파 확률격자지도 작성
이유철(Y. C. Lee),이세진(S. J. Lee),임종환(J. H. Lim),조동우(D. -W. Cho) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
The sonar sensors can be divided into a piezo type and an electrostatic type according to a principle of an operating system. The electrostatic type of a sonar sensor is used for map building in this paper. If we know the characteristics of sonar sensor, we can derive the ultrasonic pressure equation from an acoustics theory. We, therefore, developed Ultrasonic Pressure Probabilistic Model (UPPM) to consider the sound pressure in the probability updating process. In this paper, we found that the quality of the resulting probability map is considerably improved, through combining the UPPM with the grid-based mapping algorithm.