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Betreff: Multisensor Fusion: An Autonomous Mobile Robot
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Kluwer Homepage Customer Service Webmaster Journal Homepage Subscribe to this Journal Request Sample Copy Search Subject Related Journals Give us your comments Journal of Intelligent and Robotic Systems
22 (2):129-141, June 1998.
© Kluwer Academic Publishers

Multisensor Fusion: An Autonomous Mobile Robot

F. Matía
DISAM – Universidad Politécnica de Madrid, José Gutiérrez Abascal 2, E-28006 Madrid, Spain; e-mail: matia@disam.upm.es

A. Jiménez
DISAM – Universidad Politécnica de Madrid, José Gutiérrez Abascal 2, E-28006 Madrid, Spain; e-mail: matia@disam.upm.es

Abstract
A conventional autonomous mobile robot is introduced. The main idea is the integration of many conventional and sophisticated sensor fusion techniques, introduced by several authors in recent years. We show the actual possibility of integrating all these techniques together, rather than analyzing implementation details. The topics of multisensor fusion, observation integration and sensor coordination are widely used throuhout the article. The final goal is to demonstrate the validity of both mathematical and artificial intelligence techniques in guaranteeing vehicle survival in a dynamic environment, while the robot carries out a specific task. We review conventional techniques for the management of uncertainty while we describe an implementation of a mobile robot which combines on-line heterogeneous sensors in its navigation and localisation tasks.

Keywords
integration, sensor fusion, map building, localisation, artificial vision, reactive navigation, mobile robotics, autonomous systems

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ISSN 0921-0296