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Certainty Grid Representation for Robot Navigation by a Bayesian Method

Published online by Cambridge University Press:  17 August 2017

Dong Woo Cho
Dong Woo Cho*
Affiliation:
Department of Mechanical Engineering, Pohang Institute of Science and Technology, P.O. Box 125, Pohang 790–600, (South Korea)
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Summary

Recent development of sensor knowledge representation by the use of a certainty grid has been extensive and shown the usefulness of the grid-based concept for robot navigation.

Yet the methodology was not perfect. This paper introduces the Bayesian formula into the certainty grid representation to overcome some difficulties of ad hoc formula that has been the only way of updating the grids. The complete derivation of the proposed updating formula is given and proved to be able to accurately identify the simulated world. Also, the paper suggests two updating models: context-sensitive and context-free. Both of them were shown to be usable through simulation in real world modeling.

Keywords

Bayesian methodRobot navigationCertainty gridUpdating models
Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990 , pp. 159 - 165
Copyright
Copyright © Cambridge University Press 1990

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References

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