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Map Building Using Response Grid Method
Here we are generating the map of an unknown area by updating the map cell wise (smallest unit that is updated at a particular instance). Amigobot fires the sonar rays (at certain range and angle) in all directions (covering whole 3600 area ) to detect the obstacles in its surrounding and then the map is updated by marking the covered cells as occupied (having obstacle) or empty. By moving the robot to different positions in the area the whole map is generated. To increase the accuracy of the map 2 or more responses for each cell are taken and are stored in a grid called response grid, probability of occupancy of each cell is calculated by combining all these responses.
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akpandey@research.iiit.ac.in with
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