Perception of Dynamic Environments in Autonomous Robots

Perception of dynamic environments is the first and most critical step in mobile robots. Without a good perception (e.g. mapping) that is close to the true environment of the robot, no accurate navigation or effective obstacle avoidance can be accomplished. This paper addresses the occlusion problem that occurs frequently in perception of dynamic environments. The use of the Bayesian Occupancy Filter (BOF) to address these issues is proposed in this paper. The BOF using a range sensor is implemented and problems encountered during the implementation of the BOF are discussed. Simulation results demonstrate the effectiveness of the proposed approach.

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