Dynamic multisensor fusion for mobile robot navigation in an indoor environment

Taeseok Jin; Jang-Myung Lee; Bing Lam Luk; Shiu Kit Tso

doi:10.1117/12.444154

4 October 2001 Dynamic multisensor fusion for mobile robot navigation in an indoor environment

Taeseok Jin, Jang-Myung Lee, Bing Lam Luk, Shiu Kit Tso

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444154
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Citation Download Citation

Taeseok Jin, Jang-Myung Lee, Bing Lam Luk, and Shiu Kit Tso "Dynamic multisensor fusion for mobile robot navigation in an indoor environment", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444154

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KEYWORDS

Sensors

Mobile robots

Infrared sensors

Environmental sensing

CCD cameras

Data fusion

Sensor fusion

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