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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Guoliang Liu Wanjun Hao Shizuo Yan Zengqi Sun Wenyi Qiang |
| Copyright Year | 2006 |
| Description | Author affiliation: Dept. of Control Sci. & Eng., Harbin Inst. of Technol. (Guoliang Liu; Wanjun Hao; Shizuo Yan) |
| Abstract | Some problems associated with building map in confined environments for mobile robots are studied in this work. The uncertainties arising from specular reflection of ultrasonic sensors cannot make mobile robots recognize their surrounding environments correctly when mobile robots navigate in a confined environment. If the environment is known and unchanged, its map can be built with ultrasonic sensors in advance before navigation is performed. This map can provide reliable information about the environment when mobile robots work. A multi-layer fusion algorithm is proposed for building the map in advance. For the situation that the environment is unknown or variable, an adaptive ultrasonic sensor model is applied to build map dynamically. The experiment results indicate that the above fusion algorithms improve the performance of ultrasonic sensors |
| Starting Page | 960 |
| Ending Page | 964 |
| File Size | 2437041 |
| Page Count | 5 |
| File Format | |
| ISBN | 7302139229 |
| DOI | 10.1109/CESA.2006.4281788 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-04 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | IMACS |
| Subject Keyword | Mobile Robot Uncertainty Navigation Heuristic algorithms Ultrasonic Sensor Sensor fusion Sensor phenomena and characterization Mobile robots Ash Confined Environment Robot sensing systems Systems engineering and theory Optical reflection Information Fusion Map |
| Content Type | Text |
| Resource Type | Article |
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