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This paper examines the mobile robot sonar sensor based environment modelling (map building) problem. The presented approach focuses on environment modelling based on occupancy grid maps and combines the Triangulation Based Fusion algorithm with a bounding box based sonar data correction scheme for sonar reading filtering, outlier rejection and reduction of negative effects caused by uneven sonar sensor placement on the mobile robot body. Described approach is experimentally tested using an ActivMedia Pioneer 2DX mobile robot, so first results are also presented.
Robotics; Electric vehicles; Modelling; Sensors
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