World modeling and position estimation for a mobile robot using ultrasonic ranging


This paper describes a system for dynamically maintaining a description of the limits to free space for a mobile robot using a belt of ultrasonic range devices. These techniques are based on the principle of explicitly representing the uncertainty of the vehicle position as well as the uncertainty inherent in the sensing process. A model is presented for… (More)
DOI: 10.1109/ROBOT.1989.100062


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