Sonar Sensor Model for the Precision Measurement to Generate Robust Occupancy Grid Map

Abstract

Precise measurement of the parameters such as position and angular coordinates, distance travelled, and velocity and acceleration of an autonomous mobile robot in occupancy grid map is an active area of research. The stated parameters rely on the probability values stored in the grid cells of the occupancy grid. Occupancy grid mapping is a proficient paradigm in the field of mobile robotics for modeling the environment by receiving the sensory information from range sensors. The objective of this study is to develop novel approach—adaptive sonar model (ASM)—for the generation of robust occupancy grid by reducing the effect of inconsistency in the grid cells probabilities of the occupancy as a consequence of long-range measurement. The results acquired with the implementation of the ASM techniques are compared with the conventional sonar sensor model which reveals 20% reduction in the uncertainty in the occupancy grid map generated due to long-range measurement.