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Title: Occupancy change detection system and method

Abstract

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

Inventors:
 [1];  [1]
  1. Idaho Falls, ID
Publication Date:
Research Org.:
Idaho National Laboratory (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
988839
Patent Number(s):
7,584,020
Application Number:
11/428,646
Assignee:
Battelle Energy Alliance, LLC (Idaho Falls, ID)
DOE Contract Number:  
AC07-05ID14517
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
47 OTHER INSTRUMENTATION

Citation Formats

Bruemmer, David J, and Few, Douglas A. Occupancy change detection system and method. United States: N. p., 2009. Web.
Bruemmer, David J, & Few, Douglas A. Occupancy change detection system and method. United States.
Bruemmer, David J, and Few, Douglas A. 2009. "Occupancy change detection system and method". United States. https://www.osti.gov/servlets/purl/988839.
@article{osti_988839,
title = {Occupancy change detection system and method},
author = {Bruemmer, David J and Few, Douglas A},
abstractNote = {A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.},
doi = {},
url = {https://www.osti.gov/biblio/988839}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Sep 01 00:00:00 EDT 2009},
month = {Tue Sep 01 00:00:00 EDT 2009}
}

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