Human-Robot Interactive Guiding System's Application in Sonar Quick Mapping

摘要

This study introduces the sonar quick mapping method using tethered-robot guiding system, Navi-guider, that is one of the human and robot interactive devices. Basic function of the Navi-guider is to actively control the robot through the tension length and an orientation of the cable. This is able to easily control the mobile robot, is applied to robot controller for quick mapping. Using Navi-guider, user can easily control the mobile robot, but the sonar sensors of the robot head occasionally make the wrong decision to return the incorrectly measured distance between the sensor and an object. Therefore, this paper presents a Altering method, called a cell conjunction Alter (CCF), for building a sonar grid-based map for a mobile robot using Navi-guider. The CCF can recover the wrongly updated map by the incorrect sonar data. The principle of the CCF was based on revaluation of the occupancy possibility in a certain cell through the probabilistic relation among the cells. In this paper, the CCF was applied to a basic grid map construction model, Bayesian model, to verify its effectiveness. Experimental results were also obtained using a mobile robot in a real world environment.