CONFLICT EVALUATED MAXIMUM APPROXIMATED LIKELIHOOD APPROACH FOR BUILDING MAPS WITH SONAR SENSORS OF ROBOTS

摘要

A method for conflict evaluated maximum approximated likelihood approach is provided to obtain a grid map having high quality by discriminating wrong data through sound pressure comparison. A method for conflict evaluated maximum approximated likelihood approach comprises the steps of checking whether a conflict grid occurs based on ultrasonic sensor data, removing the conflict grid until the conflict grid is not generated any more by discriminating wrong data through sound pressure comparison, and forming a grid map by using the conflict evaluated maximum approximated likelihood approach. Information conflict occurs when sensor data are overlapped with each other and the conflict grid is generated when a whole arc area is subject to the information conflict.