2D mapping using SONAR

2D mapping using SONAR

Avirup Basu

Avirup Basu

Siliguri, West Bengal

Navigation and 2D mapping using ultrasound

Robotics

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Description

With the use of small robotic platform coupled with ultrasound sensors a system was developed which contained a robotic platform and a mapping software developed as a wpf application.

More details about this can be accessed through the IEEE paper

Abstract: This paper deals with a small compact robot that can autonomously navigate in an unknown indoor environment and at the same time construct a real time 2D map of the environment. The entire system consists of a robot and an application that is used for monitoring and mapping. The map is constructed based on 3 SONAR readings and the heading of the robot is determined by a single axis digital compass. Sonar readings are sent by the robot to the application which processes the data for mapping the path traversed. The robot is a standalone system and the autonomous navigation is done by the on-board controller. In this method, we presented the grid based mapping system and by the end of the robot's run, we obtained a 2D occupancy matrix of the path followed by the robot and its environment. Sonar readings were filtered using the Kalman filter and thus accuracy was better. The technique also implemented a stack of the path followed which can be backtracked. It can also operate in manual mode.

http://ieeexplore.ieee.org/document/7993421/

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Propic

Avirup B. added photos to project 2D mapping using SONAR

Medium c6d77308 4ff9 41c7 a2f9 032388d6a8a5

2D mapping using SONAR

With the use of small robotic platform coupled with ultrasound sensors a system was developed which contained a robotic platform and a mapping software developed as a wpf application.

More details about this can be accessed through the IEEE paper

Abstract: This paper deals with a small compact robot that can autonomously navigate in an unknown indoor environment and at the same time construct a real time 2D map of the environment. The entire system consists of a robot and an application that is used for monitoring and mapping. The map is constructed based on 3 SONAR readings and the heading of the robot is determined by a single axis digital compass. Sonar readings are sent by the robot to the application which processes the data for mapping the path traversed. The robot is a standalone system and the autonomous navigation is done by the on-board controller. In this method, we presented the grid based mapping system and by the end of the robot's run, we obtained a 2D occupancy matrix of the path followed by the robot and its environment. Sonar readings were filtered using the Kalman filter and thus accuracy was better. The technique also implemented a stack of the path followed which can be backtracked. It can also operate in manual mode.

http://ieeexplore.ieee.org/document/7993421/

Propic

Avirup B. added photos to project 2D mapping using SONAR

Medium 19fa4d55 7e98 45a2 bd3d ec70da20a62a

2D mapping using SONAR

With the use of small robotic platform coupled with ultrasound sensors a system was developed which contained a robotic platform and a mapping software developed as a wpf application.

More details about this can be accessed through the IEEE paper

Abstract: This paper deals with a small compact robot that can autonomously navigate in an unknown indoor environment and at the same time construct a real time 2D map of the environment. The entire system consists of a robot and an application that is used for monitoring and mapping. The map is constructed based on 3 SONAR readings and the heading of the robot is determined by a single axis digital compass. Sonar readings are sent by the robot to the application which processes the data for mapping the path traversed. The robot is a standalone system and the autonomous navigation is done by the on-board controller. In this method, we presented the grid based mapping system and by the end of the robot's run, we obtained a 2D occupancy matrix of the path followed by the robot and its environment. Sonar readings were filtered using the Kalman filter and thus accuracy was better. The technique also implemented a stack of the path followed which can be backtracked. It can also operate in manual mode.

http://ieeexplore.ieee.org/document/7993421/

Propic

Avirup B. added photos to project 2D mapping using SONAR

Medium 452a08ac b4ce 4202 b3ee 8e914bc8dc26

2D mapping using SONAR

With the use of small robotic platform coupled with ultrasound sensors a system was developed which contained a robotic platform and a mapping software developed as a wpf application.

More details about this can be accessed through the IEEE paper

Abstract: This paper deals with a small compact robot that can autonomously navigate in an unknown indoor environment and at the same time construct a real time 2D map of the environment. The entire system consists of a robot and an application that is used for monitoring and mapping. The map is constructed based on 3 SONAR readings and the heading of the robot is determined by a single axis digital compass. Sonar readings are sent by the robot to the application which processes the data for mapping the path traversed. The robot is a standalone system and the autonomous navigation is done by the on-board controller. In this method, we presented the grid based mapping system and by the end of the robot's run, we obtained a 2D occupancy matrix of the path followed by the robot and its environment. Sonar readings were filtered using the Kalman filter and thus accuracy was better. The technique also implemented a stack of the path followed which can be backtracked. It can also operate in manual mode.

http://ieeexplore.ieee.org/document/7993421/

Medium propic

Avirup B. created project 2D mapping using SONAR

Medium 452a08ac b4ce 4202 b3ee 8e914bc8dc26

2D mapping using SONAR

With the use of small robotic platform coupled with ultrasound sensors a system was developed which contained a robotic platform and a mapping software developed as a wpf application.

More details about this can be accessed through the IEEE paper

Abstract: This paper deals with a small compact robot that can autonomously navigate in an unknown indoor environment and at the same time construct a real time 2D map of the environment. The entire system consists of a robot and an application that is used for monitoring and mapping. The map is constructed based on 3 SONAR readings and the heading of the robot is determined by a single axis digital compass. Sonar readings are sent by the robot to the application which processes the data for mapping the path traversed. The robot is a standalone system and the autonomous navigation is done by the on-board controller. In this method, we presented the grid based mapping system and by the end of the robot's run, we obtained a 2D occupancy matrix of the path followed by the robot and its environment. Sonar readings were filtered using the Kalman filter and thus accuracy was better. The technique also implemented a stack of the path followed which can be backtracked. It can also operate in manual mode.

http://ieeexplore.ieee.org/document/7993421/

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