Sonar basic sensor model

Sonar sensor model

The basic sensor model 20220228202551 has a field of view specified by β, the maximum width of the cone, and R, the maximum range. The cone is projected into the occupancy grid, and measurements will fall into a cell of the grid on a specific region. On each region the measurement:

I: elements are probably occupied.
II: elements are probably empty.
III: condition of elements is unknown.

Also, the readings along the acoustic axis, regardless of the region affected, are more likely to be correct than on the edges.

The actual translation of the model into a numeric values is, however, not consensued, and will be decided by the algorithm in use.

Notes References

20220228202551 Using sensor models for interpreting sensor readings

20210514183815 INDEX - Robotics

References

(Murphy 2000)

Murphy, Robin. 2000. Introduction to AI Robotics. Intelligent Robotics and Autonomous Agents. Cambridge, Mass: MIT Press.