Abstract
The objective of this study is to represent a way to construct a line map for an unknown indoor mobile robot environment based on a sonar sensor. The proposed procedure consists of two main steps. In the first step the sonar sensor measurements from the robot surrounding environment will be mapped in a two-dimensional occupancy grid map. In the second step the Radon Transform will be used to extract the line parameters from the occupancy grid map. These parameters will be used to represent the detected objects within the grid map by lines as a final representation of the robot environment. The presented experiments in this work have confirmed that the line map construction approach is able to reconstruct the unknown indoor environment in spite of the sensor uncertainty measurements.
Jaradat, Mohammad Abdel Kareem (2002). Line map construction based on small-scale mobile robot using single-sonar navigation. Master's thesis, Texas A&M University. Available electronically from
https : / /hdl .handle .net /1969 .1 /ETD -TAMU -2002 -THESIS -J37.