Community Research and Development Information Service - CORDIS


Sensorial perception is a key issue in robot local navigation but many commonly used sensors such as ultrasonic ranging devices are known for their associated problems of specular reflections and crosstalk. The work described in this paper deals with these problems by means of special perception maps using ultrasound data. A generalised grid serves as the base of the maps with its cells having binary values, free or unoccupied. The relation between the topology of the perception map and the environment is a determinant factor for accurate reasoning.

Additional information

Authors: SANTOS V, JRC Ispra (IT);GONÇALVES J G M, JRC Ispra (IT);VAZ F, Universidade de Aveiro, INESC (PT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: IEEE International Conference on Robotics and Automation, San Diego (US), May 8-13, 1994
Availability: Available from (1) as Paper EN 38163 ORA
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