Real time multi-sensor fusion and navigation for mobile robots

Levent Yenilmez*, Hakan Temeltas

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

7 Citations (Scopus)

Abstract

This paper present a multi-sensor system for combining measurements from ultrasonic and infrared sensors and navigation for any mobile robot. Using this kind of sensor fusion, one mobile robot can be used to solve the obstacle detection, avoidance and path-planning problems inside any working environment. The implementation uses a mobile robot equipped with an on-board microcomputer and a ring, called Infrasonic Ring, which consists of an array of twelve ultrasonic and seventy-two infra-red echo ranging sensors to obtain a 360-degree sweep horizontally. Measurement data gathered from the our Infrasonic Ring are integrated to avoid the mobile robot from the unknown obstacles and plan the target-path using the 'Artificial Potential Field' concept [1,7,8,9]. In this study, we assume that the precise position and orientation information of the mobile robot are updated using our previous robot localization studies [2,3,4].

Original languageEnglish
Pages221-225
Number of pages5
Publication statusPublished - 1998
Externally publishedYes
EventProceedings of the 1998 9th Mediterranean Electrotechnical Conference, MELECON. Part 2 (of 2) - Tel-Aviv, Israel
Duration: 18 May 199820 May 1998

Conference

ConferenceProceedings of the 1998 9th Mediterranean Electrotechnical Conference, MELECON. Part 2 (of 2)
CityTel-Aviv, Israel
Period18/05/9820/05/98

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