Tham khảo tài liệu 'mobile robots perception & navigation part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Robot Mapping and Navigation by Fusing Sensory Information 591 active stereo-vision system or other type of sensors. Due to the complementary error characteristics with respect to range and angular resolution fusion of stereovision data with ultrasonic range information improves mapping precision significantly. In addition the vision can support the classification of dynamic and modeling of obstacles in 3D 3. Consider building 3D based grid map 4. It is essential to develop a powerful incremental integration between the geometric and topological mapping approaches supported by belief values. This should have simultaneous support for localization path planning and navigation 5. Multi-robot sharing map building. Merging accurately topological maps or metric maps or hybrid maps created by different mobile robots. In addition the key challenge here is how representation . any form of world model and mapping can be effectively distributed over the behavior structure 6. Due to the limitations associated with grid and topological based mapping it is necessary to find new techniques to efficiently integrate both paradigms. 6. References Bailey T. Nieto J. Nebot E. 2006 . Consistency of the FastSLAM algorithm. Proceedings of the IEEE International Conference on Robotics and Automation ICRA 06 May 2006 pp. 424-429. Borenstien J. Koren Y. 1991a . Histogrammic In-Motion Mapping for Mobile Robot Obstacle Avoidance IEEE Transaction on Robotics and Automation Vol. 7 No. 4 pp. 535-539 1991. Borenstein J. Koren Y. 1991b . The Vector Field Histogram Fast Obstacle Avoidance for Mobile Robots IEEE Journal of Robotics and Automation Vol. 7 No. 3 June 1991 pp. 278-288. Borenstien J Ulrich I. 1998 . VFH Reliable Obstacle Avoidance for Fast Mobile Robots IEEE International Conference on Robotics and Automation ICRA 98 Leuven-Belgium pp. 1572-1577 1998. Borghi G. Brugali D. 1995 . Autonomous Map Learning For A Multisensor Mobile Robot Using Diktiometric Representation And Negotiation .
