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Journal of Intelligent and Robotic Systems 22
(2):129-141, June 1998. © Kluwer Academic Publishers
Multisensor Fusion: An Autonomous Mobile RobotF.
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
ISSN 0921-0296
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