Parameter Estimation of Low-Cost Ultrasound and Laser Range Sensors to be Used for Mobile Robot Applications

In this study parameters of sensor models are estimated for low-cost ultrasound and laser range sensors. Sensor models that are best suited to simultaneous localization and mapping (SLAM) tasks for mobile robotics applications are used. Mathematical functions of sensor models with relevant parameters to be determined are explained. Particle swarm optimization (PSO) algorithm is used to find the best parameters that explain the experimental measurements optimally. Experiments are conducted for various sizes of obstacles at various distances and results are reported detailly in the corresponding section. Finally, results are discussed and future works to be built on the results are proposed.