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- W2740120350 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." @default.
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- W2740120350 date "2016-10-01" @default.
- W2740120350 modified "2023-09-25" @default.
- W2740120350 title "Autonomous navigation and 2d mapping using SONAR" @default.
- W2740120350 cites W1983459139 @default.
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- W2740120350 doi "https://doi.org/10.1109/wecon.2016.7993421" @default.
- W2740120350 hasPublicationYear "2016" @default.
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