Page 220 - Introduction to Autonomous Mobile Robots
P. 220

Mobile Robot Localization



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                           Figure 5.15
                           Fixed decomposition of the same space (narrow passage disappears).


                             The concept of fixed decomposition is extremely popular in mobile robotics; it is per-
                           haps the single most common map representation technique currently utilized. One very
                           popular version of fixed decomposition is known as the occupancy grid representation
                           [112]. In an occupancy grid, the environment is represented by a discrete grid, where each
                           cell is either filled (part of an obstacle) or empty (part of free space). This method is of par-
                           ticular value when a robot is equipped with range-based sensors because the range values
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