Title :
Emergent behavior based sensor fusion for robot navigation system
Author :
Nakauchi, Yasushi ; Mori, Yasuchika
Author_Institution :
Dept. of Mech. Eng., Nat. Defense Acad., Yokosuka, Japan
Abstract :
Presents Emergent Behavior-Based Architecture (EBBA), an architecture for heterogeneous sensor information fusion at the level of behavior modules. And we have designed and implemented the mobile robot navigation system based on EBBA. By experiment, we have confirmed that the system based on EBBA satisfies the required functions for human coexistent robots. We are currently developing a dual arm robot system and a stereo vision system using EBBA. We are planning to integrate them as one service robot in near future
Keywords :
computerised navigation; mobile robots; navigation; robot vision; sensor fusion; EBBA; Emergent Behavior-Based Architecture; dual arm robot system; heterogeneous sensor information fusion; human coexistent robots; mobile robot navigation system; stereo vision system; Charge coupled devices; Hospitals; Humans; Infrared sensors; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robot vision systems; Sensor fusion;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572226
