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dc.contributor.authorSong, KTen_US
dc.contributor.authorChen, CCen_US
dc.date.accessioned2019-04-02T06:00:53Z-
dc.date.available2019-04-02T06:00:53Z-
dc.date.issued1996-11-01en_US
dc.identifier.issn0921-0296en_US
dc.identifier.urihttp://dx.doi.org/10.1007/BF00339663en_US
dc.identifier.urihttp://hdl.handle.net/11536/149394-
dc.description.abstractIn this paper, an experimental study of a navigation system that allows a mobile robot to travel in an environment about which it has no prior knowledge is described. Data from multiple ultrasonic range sensors are fused into a representation called Heuristic Asymmetric Mapping to deal with the problem of uncertainties in the raw sensory data caused mainly by the transducer's beam-opening angle and specular reflections. It features a fast data-refresh rate to handle a dynamic environment. Potential-field method is used for on-line path planning based on the constructed grid-type sonar map. The mobile robot can therefore learn to find a safe path according to its self-built sonar map. To solve the problem of local minima in conventional potential field method, a new type of potential function is formulated. This new method is simple and fast in execution using the concept from distance-transform path-finding algorithms. The developed navigation system has been tested on our experimental mobile robot to demonstrate its possible application in practical situations. Several interesting simulation and experimental results are presented.en_US
dc.language.isoen_USen_US
dc.subjectmobile roboten_US
dc.subjectnavigationen_US
dc.subjectsonar mapen_US
dc.subjectpotential functionen_US
dc.titleApplication of Heuristic Asymmetric Mapping for mobile robot navigation using ultrasonic sensorsen_US
dc.typeArticleen_US
dc.identifier.doi10.1007/BF00339663en_US
dc.identifier.journalJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMSen_US
dc.citation.volume17en_US
dc.citation.spage243en_US
dc.citation.epage264en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:A1996VY80200002en_US
dc.citation.woscount16en_US
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