Title :
Adaptive sensor integration for mobile robot navigation
Author :
Lin, Cheng-Chih ; Tummala, RLal
Author_Institution :
Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
Adaptive sensor integration (ASI) to navigate mobile robot in partially known and changing environments is described in this paper. The relationship between the “clutterness” of the robot´s environment at any given time, speed of the robot, and the configuration of sensors on board of the robot is explored. Quantitative relationships are obtained to maximize the safe speed of travel from the initial position to the goal position. Experimental results are provided to illustrate this method
Keywords :
computerised navigation; mobile robots; sensor fusion; adaptive sensor integration; environment clutteredness; mobile robot navigation; quantitative relationships; speed maximization; Cameras; Density functional theory; Humans; Infrared sensors; Mobile robots; Motion planning; Navigation; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
DOI :
10.1109/MFI.1994.398469
